.. _exhale_function_namespacepinocchio_1a1711a980cfb18dd166709411116e8fe4:

Template Function pinocchio::computeContactImpulses
===================================================

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


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


.. doxygenfunction:: pinocchio::computeContactImpulses(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const Eigen::MatrixBase<VectorLikeC>&, 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<VectorLikeImp>&)
   :project: pinocchio Doxygen Project