.. _exhale_function_namespacepinocchio_1a9b589a8309962350a04f3d6e827f6335:

Template Function pinocchio::contactInverseDynamics
===================================================

- Defined in :ref:`file_include_pinocchio_algorithm_contact-inverse-dynamics.hpp`


Function Documentation
----------------------


.. doxygenfunction:: pinocchio::contactInverseDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<ConfigVectorType>&, const Eigen::MatrixBase<TangentVectorType1>&, const Eigen::MatrixBase<TangentVectorType2>&, Scalar, const std::vector<RigidConstraintModelTpl<Scalar, Options>, ConstraintModelAllocator>&, std::vector<RigidConstraintDataTpl<Scalar, Options>, ConstraintDataAllocator>&, const std::vector<CoulombFrictionConeTpl<Scalar>, CoulombFrictionConelAllocator>&, const Eigen::MatrixBase<VectorLikeR>&, const Eigen::MatrixBase<VectorLikeGamma>&, ProximalSettingsTpl<Scalar>&, const boost::optional<VectorLikeLam>&)
   :project: pinocchio Doxygen Project