Added c++ implementation and Python bindings of multiple contact iface + fixed few bugs (!197) · Merge requests · loco-3d / crocoddyl

Carlos Mastalli requested to merge cmastall/crocoddyl:topic/cpp-multiple-contact into cpp_devel Aug 14, 2019

In this PR I solved the issue #217 (closed). Additionally it solved the old problem with Pinocchio v2.1.5 compilation (#200 (closed)). By doing so, I noticed other issues in the test_contact unit-test where I detected and solved a bug in the contact 3d model.

Added c++ implementation and Python bindings of multiple contact iface + fixed few bugs

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