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

[detail level 123]

▼NOptimization
▼NSolver
CPLDPSolver
CPLDPSolverHerdt
▼NPatternGeneratorJRL	\doc Simulate a rigid body
CAnalyticalZMPCOGTrajectory
CBsplines
CBSplinesFoot	Bsplines used for Z trajectory of stair steps
CCH_Point
CCircle_t	Structure to model a circle (e.g : a stricly convex obstable)
CCOMPosition_s	Structure to store the COM position computed by the preview control
CComputeConvexHull
CCOMState_s	Structure to store the COM state computed by the preview control
CControlLoopOneStepArgs
CFootAbsolutePosition_t	Structure to store the absolute foot position
CFootConstraintsAsLinearSystem
CFootHalfSize
CHandAbsolutePosition_t	Structure to store the absolute foot position
▼CIntermedQPMat	Custom (value based) container providing intermediate elements for the construction of a QP
Cobjective_variant_s
Cstate_variant_s
Clinear_dynamics_s
CLinearConstraintInequality_s
CLinearConstraintInequalityFreeFeet_s	Linear constraints with variable feet placement
CLinearizedInvertedPendulum2D
CltCH_Point
COptimalControllerSolver	This class computes the gains for preview control for a given discrete system. The discrete system is defined by three matrix A, b, c such as :
CPatternGeneratorInterface
CPinocchioRobot
CPinocchioRobotFoot_t
CPolynome
CPolynome3	Polynome used for X,Y and Theta trajectories
CPolynome4	Polynome used for Z trajectory
CPolynome5	Polynome used for X,Y and Theta trajectories
CPolynome6	Polynome used for Z trajectory
CPolynome7	Polynome used for X,Y and Theta trajectories
CPolynomeFoot
CPreviewControl	Class to implement the preview control
CReferenceAbsoluteVelocity_t	Structure to store the absolute reference
CRelativeFeetInequalities	Generate a stack of inequalities relative to feet centers for the whole preview window
CRelativeFootPosition_s
Crigid_body_state_s	State vectors
CRigidBody
CRigidBodySystem
CStepOverClampedCubicSpline
CStepOverPolynomeFoot	Polynome used for Z trajectory during stepover
CStepOverPolynomeFootXtoTime	Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX
CStepOverPolynomeFootZtoX	Polynome used for Z trajectory during stepover
CStepOverPolynomeHip4	Polynome for the hip trajectory
CStepOverSpline	Spline function calculation class to calculate cubic splines
CSupportFeet_s
CSupportFSM	Finite state machine to determine the support parameters
CZMPPosition_s
CZMPPreviewControlWithMultiBodyZMP
Calist
Ccilist
Ccllist
Ccomplex
Cdoublecomplex
Cicilist
Cinlist
CMultitype
CNamelist
Colist
CPoint
Ct_cmache_
CVardesc