text: ///////////////////////////////////////////////////////////////////////////////
  // BSD 3-Clause License
  //
  // Copyright (C) 2019-2020, LAAS-CNRS, University of Edinburgh
  // Copyright note valid unless otherwise stated in individual files.
  // All rights reserved.
  ///////////////////////////////////////////////////////////////////////////////
  
  #ifndef BINDINGS_PYTHON_CROCODDYL_MULTIBODY_MULTIBODY_HPP_
  #define BINDINGS_PYTHON_CROCODDYL_MULTIBODY_MULTIBODY_HPP_
  
  #include <pinocchio/fwd.hpp>
  #include "python/crocoddyl/fwd.hpp"
  
  namespace crocoddyl {
  namespace python {
  
  void exposeFrames();
  void exposeFrictionCone();
  void exposeWrenchCone();
  void exposeStateMultibody();
  void exposeActuationFloatingBase();
  void exposeActuationFull();
  void exposeActuationModelMultiCopterBase();
  void exposeContactAbstract();
  void exposeImpulseAbstract();
  void exposeContactMultiple();
  void exposeImpulseMultiple();
  void exposeDataCollectorMultibody();
  void exposeDataCollectorContacts();
  void exposeDataCollectorImpulses();
  void exposeDifferentialActionFreeFwdDynamics();
  void exposeDifferentialActionContactFwdDynamics();
  void exposeActionImpulseFwdDynamics();
  void exposeCostState();
  void exposeCostCoMPosition();
  void exposeCostCentroidalMomentum();
  void exposeCostFramePlacement();
  void exposeCostFrameTranslation();
  void exposeCostFrameRotation();
  void exposeCostFrameVelocity();
  void exposeCostContactForce();
  void exposeCostContactWrenchCone();
  void exposeCostContactCoPPosition();
  void exposeCostContactFrictionCone();
  void exposeCostContactImpulse();
  void exposeCostImpulseFrictionCone();
  void exposeCostImpulseWrenchCone();
  void exposeCostImpulseCoPPosition();
  void exposeCostImpulseCoM();
  void exposeContact2D();
  void exposeContact3D();
  void exposeContact6D();
  void exposeImpulse3D();
  void exposeImpulse6D();
  
  void exposeMultibody();
  
  }  // namespace python
  }  // namespace crocoddyl
  
  #endif  // BINDINGS_PYTHON_CROCODDYL_MULTIBODY_MULTIBODY_HPP_
  