9 #ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_
10 #define CROCODDYL_CORE_DATA_CONTACTS_HPP_
12 #include <boost/shared_ptr.hpp>
14 #include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/multibody/fwd.hpp"
20 template <
typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
29 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts;
32 template <
typename Scalar>
35 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
38 pinocchio::DataTpl<Scalar>*
const pinocchio,
45 template <
typename Scalar>
49 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
52 pinocchio::DataTpl<Scalar>*
const pinocchio,
60 template <
typename Scalar>
64 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
67 pinocchio::DataTpl<Scalar>*
const pinocchio,