.. _exhale_struct_structpinocchio_1_1ComputeContactDynamicDerivativesBackwardStep:

Template Struct ComputeContactDynamicDerivativesBackwardStep
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- Defined in :ref:`file_include_pinocchio_algorithm_constrained-dynamics-derivatives.hxx`


Inheritance Relationships
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Base Type
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- ``public pinocchio::fusion::JointUnaryVisitorBase< ComputeContactDynamicDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, ContactMode > >`` (:ref:`exhale_struct_structpinocchio_1_1fusion_1_1JointUnaryVisitorBase`)


Struct Documentation
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.. doxygenstruct:: pinocchio::ComputeContactDynamicDerivativesBackwardStep
   :project: pinocchio Doxygen Project
   :members:
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