.. _exhale_struct_structpinocchio_1_1impl_1_1JointAccelerationDerivativesBackwardStep:

Template Struct JointAccelerationDerivativesBackwardStep
========================================================

- Defined in :ref:`file_include_pinocchio_algorithm_kinematics-derivatives.hxx`


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

Base Type
*********

- ``public pinocchio::fusion::JointUnaryVisitorBase< JointAccelerationDerivativesBackwardStep< Scalar, Options, JointCollectionTpl, Matrix6xOut1, Matrix6xOut2, Matrix6xOut3, Matrix6xOut4 > >`` (:ref:`exhale_struct_structpinocchio_1_1fusion_1_1JointUnaryVisitorBase`)


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


.. doxygenstruct:: pinocchio::impl::JointAccelerationDerivativesBackwardStep
   :project: pinocchio Doxygen Project
   :members:
   :protected-members:
   :undoc-members: