.. _exhale_struct_structpinocchio_1_1ContactAndImpulseDynamicsForwardStep:

Template Struct ContactAndImpulseDynamicsForwardStep
====================================================

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


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

Base Type
*********

- ``public pinocchio::fusion::JointUnaryVisitorBase< ContactAndImpulseDynamicsForwardStep< Scalar, Options, JointCollectionTpl, ConfigVectorType, TangentVectorType, ContactMode > >`` (:ref:`exhale_struct_structpinocchio_1_1fusion_1_1JointUnaryVisitorBase`)


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


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