| battery_param_t | Parameter definitions for ProcBattery |
| CDLFunction | Parent class for all CDL Functions This class is a parent class to create Functions to be used with the CDL. Note that it is a pure virtual function, so it cannot be instantiated |
| CDLInterface | Interface class for all CDL functionality |
| CDLNamedEntity | Parent class for named entities Not meant for use by itself, this class should be descended from |
| CDLTypedEntity | Parent class for typed entities Not meant for use by itself, this class should be descended from |
| Contact | Base class for all contact primitives |
| ContactCatcher | Collision handler for dealing with special contact types |
| ContactCreator< T > | Family of contact factory implementations templated on various contact types |
| ContactFactory | Interface class for all contact factories |
| DataProcessor | Abstract base class for all data processor classes |
| dcmotor_param_t | Parameter definitions for ProcDCMotor processor |
| DefaultContact | Default contact type for Arachi contact constraints |
| encoder_param_t | Parameter definitions for ProcEncoder processor |
| ForceAContact | Force "A" Contact type for Arachi contact constraints |
| ForceBContact | Force "B" Contact type for Arachi contact constraints |
| ForceCContact | Force "C" Contact type for Arachi contact constraints |
| ForceDContact | Force "D" Contact type for Arachi contact constraints |
| FrictionAContact | FrictionA contact type for Arachi contact constraints |
| gearhead_param_t | Parameter definitions for ProcGearhead processor |
| GenericAContact | Generic "A" Contact type for Arachi contact constraints |
| GenericBContact | Generic "B" Contact type for Arachi contact constraints |
| Joint | CDL joint |
| Object | CDL object |
| PCMConstraint | General Constraint class for PCM |
| PCMInterface | Interface class for all PCM functionality |
| ProcAccum | Data processor that outputs the cumulative sum of value read from its single input at every step |
| ProcAdder | Data processor that produces the sum of its input signals |
| ProcAdditive | Data processor that outputs the sum of its two inputs |
| ProcAmplifier | Data processor to perform signal amplification |
| ProcBatteryPeukert | Data processor modeling a battery with simple Peukert model |
| ProcDCMotorA | Data processor modeling a simple rotational DC motor (current mode) |
| ProcDCMotorApex | Data processor modeling a DC motor driven by an APEX chip |
| ProcDCMotorV | Data processor modeling a simple rotational DC motor (voltage mode) |
| ProcEncoder | Data processor modeling a simple rotational encoder counter |
| ProcessorManager | Central manager for all DataProcessor instances |
| ProcFileSink | Data processor to accept and buffer severalinputs |
| ProcGearheadD | Data processor modeling the dynamics of a rotational gearhead |
| ProcGearheadK | Data processor modeling kinematics of a rotational gearhead |
| ProcJointSink | Data processor to inject force commands to a CDL joint |
| ProcJointSource | Data processor to extract joint state from a CDL joint |
| ProcMultiplier | Data processor that produces the product of its input signals |
| ProcNullsink | Data processor that accepts a single input and does nothing |
| ProcOnesource | Data processor that outputs a constant one value |
| ProcPassthrough | Data processor that directly connects its input to its output |
| ProcRectifier | Data processor that takes the absolute value of its input |
| ProcSink | Data processor to accept and buffer severalinputs |
| ProcSource | Data processor to produce constant outputs |
| ProcZerosource | Data processor that outputs a constant zero value |
| Singleton< T > | Base class for all singleton classes |
| Surface | CDL surface |