.. _exhale_struct_structpinocchio_1_1ContactSolverBaseTpl:

Template Struct ContactSolverBaseTpl
====================================

- Defined in :ref:`file_include_pinocchio_algorithm_contact-solver-base.hpp`


Inheritance Relationships
-------------------------

Derived Type
************

- ``public pinocchio::PGSContactSolverTpl< _Scalar >`` (:ref:`exhale_struct_structpinocchio_1_1PGSContactSolverTpl`)


Struct Documentation
--------------------


.. doxygenstruct:: pinocchio::ContactSolverBaseTpl
   :project: pinocchio Doxygen Project
   :members:
   :protected-members:
   :undoc-members: