Here are the data structures with brief descriptions:

[detail level 12345]

▼Ncustom_static_assert
Ccustom_static_assert_test
CSTATIC_ASSERT_FAILURE
CSTATIC_ASSERT_FAILURE< true >
▼NRBDLCasadiMath
CMX_Xd_dynamic
CMX_Xd_scalar
CMX_Xd_static
CMX_Xd_SubMatrix
▼NRigidBodyDynamics
▼NAddons
▼NBalance
CBalanceToolkit
CFootPlacementEstimatorInfo
▼NGeometry
▼CFunction_
CConstant
CLinear
CPolynomial
CSinusoid
CStep
CSegmentedQuinticBezierToolkit
CSmoothSegmentedFunction
▼NMuscle
CAgeGroupSet
CAnderson2007
CDataSet
CFitTorqueMuscleParameters
CGenderSet
CGymnast
CJointTorqueSet
CMillard2016TorqueMuscle	This class implements a rigid-tendon muscle-torque-generator (MTG) for a growing list of joints and torque-directions. For a detailed description of the MTGs available and the automatic fitting routine (implemented in TorqueMuscleFittingToolkit) please see the publication: M.Millard, A.L.Kleesattel, M.Harant, & K.Mombaur. A reduced muscle model and planar musculoskeletal model fit for the synthesis of whole body movements. Journal of Biomechanics. (under review as of August 2018)
CMuscleFunctionFactory
CSubjectInformation
CTorqueMuscleDataFeatures
CTorqueMuscleFittingToolkit
CTorqueMuscleFunctionFactory
CTorqueMuscleInfo
CTorqueMuscleParameterFittingData
CTorqueMuscleSummary
▼NErrors
CRBDLDofMismatchError	Thrown if there is a dof mismatch
CRBDLError	Base class for all RBDL exceptions
CRBDLFileParseError	Thrown if the file beeing read contains errors
CRBDLInvalidFileError	Thrown if the specified file could not be found/read
CRBDLInvalidParameterError	Thrown if parameter of function was faulty
CRBDLMissingImplementationError	Thrown if code path reaches a point that is not implmented yet
CRBDLSizeMismatchError	Thrown if there is a size mismatch that prevents further calculations
▼NMath	Math types such as vectors and matrices and utility functions
CQuaternion	Quaternion that are used for singularity free joints
CSpatialRigidBodyInertia	Compact representation for Spatial Inertia
CSpatialTransform	Compact representation of spatial transformations
CBody	Describes all properties of a single body
CConstraint	Interface to define general-purpose constraints
CConstraintCache
CConstraintSet	Structure that contains both constraint information and workspace memory
CContactConstraint	Implements a rigid kinematic body-point–to–ground constraint along a normal direction as described in Ch. 11 of Featherstone's Rigid Body Dynamics Algorithms book
CFixedBody	Keeps the information of a body and how it is attached to another body
CInverseKinematicsConstraintSet
CLoopConstraint	Implements a rigid kinematic loop (or body-to-body) constraints as described in Ch. 8 of Featherstone's Rigid Body Dynamics Algorithms book
CHumanMetaData
CLocalFrame
CLoggingGuard	Helper object to ignore any logs that happen during its lifetime
CMatrix3_t
CMatrix4_t
CMillard2016TorqueMuscleConfig
CMotionCaptureMarker
CPoint
CSpatialMatrix_t
CSpatialVector_t
CVector3_t
CVector4_t