KDL  1.4.0
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
 NKDL
 CArticulatedBodyInertia6D Inertia of a articulated body
 CChainThis class encapsulates a serial kinematic interconnection structure
 CChainDynParamImplementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives
 CChainFkSolverAccThis abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain
 CChainFkSolverPosThis abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain
 CChainFkSolverPos_recursiveImplementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain)
 CChainFkSolverVelThis abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain
 CChainFkSolverVel_recursiveImplementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain)
 CChainIdSolverThis abstract class encapsulates the inverse dynamics solver for a KDL::Chain
 CChainIdSolver_RNERecursive newton euler inverse dynamics solver
 CChainIdSolver_VereshchaginDynamics calculations by constraints based on Vereshchagin 1989
 Csegment_info
 CChainIkSolverAccThis abstract class encapsulates the inverse acceleration solver for a KDL::Chain
 CChainIkSolverPosThis abstract class encapsulates the inverse position solver for a KDL::Chain
 CChainIkSolverPos_LMASolver for the inverse position kinematics that uses Levenberg-Marquardt
 CChainIkSolverPos_NRImplementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain
 CChainIkSolverPos_NR_JLImplementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain
 CChainIkSolverVelThis abstract class encapsulates the inverse velocity solver for a KDL::Chain
 CChainIkSolverVel_pinvImplementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
 CChainIkSolverVel_pinv_givensImplementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
 CChainIkSolverVel_pinv_nsoImplementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
 CChainIkSolverVel_wdlsImplementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with damped least-square to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
 CChainJntToJacDotSolverComputes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation
 CChainJntToJacSolverClass to calculate the jacobian of a general KDL::Chain, it is used by other solvers
 CFrameFrame transformation in 3D space (rotation + translation)
 CFrame2A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics
 CFrameAcc
 CFrameVel
 CJacobian
 CJntArrayThis class represents an fixed size array containing joint values of a KDL::Chain
 CJntArrayAcc
 CJntArrayVel
 CJointThis class encapsulates a simple joint, that is with one parameterized degree of freedom and with scalar dynamic properties
 Cjoint_type_exception
 CPathThe specification of the path of a trajectory
 CPath_CircleA circular Path with 'open ends'
 CPath_CompositeA Path being the composition of other Path objects
 CPath_Cyclic_ClosedA Path representing a closed circular movement, which is traversed a number of times
 CPath_LineA path representing a line from A to B
 CPath_PointA Path consisting only of a point in space
 CPath_RoundedCompositeThe specification of a path, composed of way-points with rounded corners
 CRigidBodyInertia6D Inertia of a rigid body
 CRotationRotations in 3 dimensional space
 CRotation2A 2D Rotation class, for conventions see Rotation
 CRotationAcc
 CRotationalInertia
 CRotationalInterpolationRotationalInterpolation specifies the rotational part of a geometric trajectory
 CRotationalInterpolation_SingleAxisAn interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation
 CRotationVel
 CSegmentThis class encapsulates a simple segment, that is a "rigid body" (i.e., a frame and a rigid body inertia) with a joint and with "handles", root and tip to connect to other segments
 CSolverISolver interface supporting storage and description of the latest error
 CStiffnessPreliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided..
 CTrajectoryAn abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile
 CTrajectory_CompositeTrajectory_Composite implements a trajectory that is composed of underlying trajectoria
 CTrajectory_SegmentTrajectory_Segment combines a VelocityProfile and a Path into a trajectory
 CTrajectory_StationaryImplements a "trajectory" of a stationary position for an amount of time
 CTreeThis class encapsulates a tree kinematic interconnection structure
 CTreeElement
 CTreeFkSolverPosThis abstract class encapsulates a solver for the forward position kinematics for a KDL::Tree
 CTreeFkSolverPos_recursiveImplementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree)
 CTreeIkSolverPosThis abstract class encapsulates the inverse position solver for a KDL::Chain
 CTreeIkSolverPos_NR_JLImplementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree
 CTreeIkSolverPos_OnlineImplementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree
 CTreeIkSolverVelThis abstract class encapsulates the inverse velocity solver for a KDL::Tree
 CTreeIkSolverVel_wdls
 CTreeJntToJacSolver
 CTwistBoth translational and rotational velocities
 CTwistAcc
 CTwistVel
 CVectorA concrete implementation of a 3 dimensional vector class
 CVector22D version of Vector
 CVectorAcc
 CVectorVel
 CVelocityProfileA VelocityProfile stores the velocity profile that is used within a trajectory
 CVelocityProfile_DiracA Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time
 CVelocityProfile_RectangularA rectangular VelocityProfile generates a constant velocity for moving from A to B
 CVelocityProfile_SplineA spline VelocityProfile trajectory interpolation
 CVelocityProfile_TrapA Trapezoidal VelocityProfile implementation
 CVelocityProfile_TrapHalfA 'Half' Trapezoidal VelocityProfile
 CWrenchBoth translational and rotational acceleration
 CTraits< KDL::doubleVel >