9 #ifndef CROCODDYL_CORE_DATA_MULTIBODY_HPP_
10 #define CROCODDYL_CORE_DATA_MULTIBODY_HPP_
12 #include <pinocchio/multibody/data.hpp>
14 #include "crocoddyl/multibody/fwd.hpp"
15 #include "crocoddyl/core/data-collector-base.hpp"
16 #include "crocoddyl/core/data/actuation.hpp"
20 template <
typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
27 pinocchio::DataTpl<Scalar>* pinocchio;
30 template <
typename Scalar>
32 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
42 #endif // CROCODDYL_CORE_DATA_MULTIBODY_HPP_