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In tutorial, there is a set of code shown below:

void ContactPlugin::OnUpdate()
{
  // Get all the contacts.
  msgs::Contacts contacts;
  contacts = this->parentSensor->GetContacts();
  for (unsigned int i = 0; i < contacts.contact_size(); ++i)
  {
    std::cout << "Collision between[" << contacts.contact(i).collision1()
              << "] and [" << contacts.contact(i).collision2() << "]\n";

    for (unsigned int j = 0; j < contacts.contact(i).position_size(); ++j)
    {
      std::cout << j << "  Position:"
                << contacts.contact(i).position(j).x() << " "
                << contacts.contact(i).position(j).y() << " "
                << contacts.contact(i).position(j).z() << "\n";
          std::cout << "   Normal:"
                << contacts.contact(i).normal(j).x() << " "
                << contacts.contact(i).normal(j).y() << " "
                << contacts.contact(i).normal(j).z() << "\n";
      std::cout << "   Depth:" << contacts.contact(i).depth(j) << "\n";
    }
  }
}

I wonder where I can find the API information about usage and definition of contact_size() function. I am not familiar with C++, is it because related to C++ library? Any hint or guide would be appreciated.