9 #ifndef CROCODDYL_CORE_DATA_CONTACTS_HPP_
10 #define CROCODDYL_CORE_DATA_CONTACTS_HPP_
12 #include <boost/shared_ptr.hpp>
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/multibody/data/multibody.hpp"
16 #include "crocoddyl/multibody/contacts/multiple-contacts.hpp"
20 template <
typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts;
31 template <
typename Scalar>
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41 template <
typename Scalar>
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
56 #endif // CROCODDYL_CORE_DATA_MULTIBODY_IN_CONTACT_HPP_