.. _exhale_struct_structpinocchio_1_1JointImpulseVelocityDerivativesBackwardStep6D:

Template Struct JointImpulseVelocityDerivativesBackwardStep6D
=============================================================

- Defined in :ref:`file_include_pinocchio_algorithm_impulse-dynamics-derivatives.hxx`


Inheritance Relationships
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Base Type
*********

- ``public pinocchio::fusion::JointUnaryVisitorBase< JointImpulseVelocityDerivativesBackwardStep6D< Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2 > >`` (:ref:`exhale_struct_structpinocchio_1_1fusion_1_1JointUnaryVisitorBase`)


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


.. doxygenstruct:: pinocchio::JointImpulseVelocityDerivativesBackwardStep6D
   :project: pinocchio Doxygen Project
   :members:
   :protected-members:
   :undoc-members: