.. _exhale_function_namespacepinocchio_1ad611a91ba0d8992c035b61c3e92d30c0:

Template Function pinocchio::initConstraintDynamics
===================================================

- Defined in :ref:`file_include_pinocchio_algorithm_constrained-dynamics.hxx`


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


.. doxygenfunction:: pinocchio::initConstraintDynamics(const ModelTpl<Scalar, Options, JointCollectionTpl>&, DataTpl<Scalar, Options, JointCollectionTpl>&, const std::vector<RigidConstraintModelTpl<Scalar, Options>, Allocator>&)
   :project: pinocchio Doxygen Project