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Difference in plugin tutorials: no header file vs yes header file

Noob here! I've read through the plugin tutorials, for example

http://gazebosim.org/tutorials?tut=plugins_model&cat=write_plugin

and also the sensors tutorials, and noticed an apparent difference between how plugins are handled. In the model plugin tutorial above there's no mention of a header file for the plugin but in the contact sensor tutorial

http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors

there is a plugin shown and it includes a header file. Can you tell me the reason for the difference?