Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 1234]

▼Nrbd
▼Nparsers
▼CGeometry
CBox
CCylinder
CMesh
CSphere
CSuperellipsoid	A Superellipsoid can approximate primitive shapes as boxes, cylinders and pyrimids while remaining strictly convex
CLimits
▼CMaterial
CColor
CTexture
CParserParameters
CParserResult
CRBDynFromYAML
CVisual
CBlock
CBody
CCentroidalMomentumMatrix
CCoMJacobian
CCoMJacobianDummy
CConfigConverter
CCoriolis
CForwardDynamics
CIDIM
CInverseDynamics
CInverseKinematics
CInverseStatics
CJacobian
CJoint
CMultiBody
CMultiBodyConfig
▼CMultiBodyGraph
CArc
CNode