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"
20template <
typename Scalar>
22 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
28 boost::shared_ptr<ContactDataMultipleTpl<Scalar> > contacts;
31template <
typename Scalar>
33 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
41template <
typename Scalar>
44 EIGEN_MAKE_ALIGNED_OPERATOR_NEW