.. _file_include_pinocchio_algorithm_contact-inverse-dynamics.hpp:

File contact-inverse-dynamics.hpp
=================================

|exhale_lsh| :ref:`Parent directory <dir_include_pinocchio_algorithm>` (``include/pinocchio/algorithm``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS


.. contents:: Contents
   :local:
   :backlinks: none

Definition (``include/pinocchio/algorithm/contact-inverse-dynamics.hpp``)
-------------------------------------------------------------------------


.. toctree::
   :maxdepth: 1

   program_listing_file_include_pinocchio_algorithm_contact-inverse-dynamics.hpp.rst





Includes
--------


- ``boost/optional.hpp``

- ``boost/optional/optional.hpp``

- ``pinocchio/algorithm/constraints/coulomb-friction-cone.hpp`` (:ref:`file_include_pinocchio_algorithm_constraints_coulomb-friction-cone.hpp`)

- ``pinocchio/algorithm/contact-cholesky.hpp`` (:ref:`file_include_pinocchio_algorithm_contact-cholesky.hpp`)

- ``pinocchio/algorithm/contact-jacobian.hpp`` (:ref:`file_include_pinocchio_algorithm_contact-jacobian.hpp`)

- ``pinocchio/algorithm/proximal.hpp`` (:ref:`file_include_pinocchio_algorithm_proximal.hpp`)

- ``pinocchio/algorithm/rnea.hpp`` (:ref:`file_include_pinocchio_algorithm_rnea.hpp`)

- ``pinocchio/multibody/data.hpp`` (:ref:`file_include_pinocchio_multibody_data.hpp`)

- ``pinocchio/multibody/model.hpp`` (:ref:`file_include_pinocchio_multibody_model.hpp`)






Namespaces
----------


- :ref:`namespace_pinocchio`


Functions
---------


- :ref:`exhale_function_namespacepinocchio_1a1711a980cfb18dd166709411116e8fe4`

- :ref:`exhale_function_namespacepinocchio_1a9b589a8309962350a04f3d6e827f6335`