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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<div class="textblock">Here are the data structures with brief descriptions:</div><div class="directory">
<div class="levels">[detail level <span onclick="javascript:toggleLevel(1);">1</span><span onclick="javascript:toggleLevel(2);">2</span><span onclick="javascript:toggleLevel(3);">3</span><span onclick="javascript:toggleLevel(4);">4</span><span onclick="javascript:toggleLevel(5);">5</span>]</div><table class="directory">
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<tr id="row_0_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d4/d7b/structcustom__static__assert_1_1_s_t_a_t_i_c___a_s_s_e_r_t___f_a_i_l_u_r_e.html" target="_self">STATIC_ASSERT_FAILURE</a></td><td class="desc"></td></tr>
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<tr id="row_1_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/d69/class_r_b_d_l_casadi_math_1_1_m_x___xd__scalar.html" target="_self">MX_Xd_scalar</a></td><td class="desc"></td></tr>
<tr id="row_1_2_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/d33/class_r_b_d_l_casadi_math_1_1_m_x___xd__static.html" target="_self">MX_Xd_static</a></td><td class="desc"></td></tr>
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<tr id="row_2_"><td class="entry"><span style="width:0px;display:inline-block;"> </span><span id="arr_2_" class="arrow" onclick="toggleFolder('2_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="dd/d16/namespace_rigid_body_dynamics.html" target="_self">RigidBodyDynamics</a></td><td class="desc"></td></tr>
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<tr id="row_2_0_0_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span id="arr_2_0_0_" class="arrow" onclick="toggleFolder('2_0_0_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="d7/dbd/namespace_rigid_body_dynamics_1_1_addons_1_1_geometry.html" target="_self">Geometry</a></td><td class="desc"></td></tr>
<tr id="row_2_0_0_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span id="arr_2_0_0_0_" class="arrow" onclick="toggleFolder('2_0_0_0_')">▼</span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/dd0/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function__.html" target="_self">Function_</a></td><td class="desc"></td></tr>
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<tr id="row_2_0_0_0_2_"><td class="entry"><span style="width:80px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/dff/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_function___1_1_polynomial.html" target="_self">Polynomial</a></td><td class="desc"></td></tr>
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<tr id="row_2_0_0_1_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d5/d58/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_segmented_quintic_bezier_toolkit.html" target="_self">SegmentedQuinticBezierToolkit</a></td><td class="desc"></td></tr>
<tr id="row_2_0_0_2_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dc/dff/class_rigid_body_dynamics_1_1_addons_1_1_geometry_1_1_smooth_segmented_function.html" target="_self">SmoothSegmentedFunction</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span id="arr_2_0_1_" class="arrow" onclick="toggleFolder('2_0_1_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="dd/d32/namespace_rigid_body_dynamics_1_1_addons_1_1_muscle.html" target="_self">Muscle</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_0_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/dec/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_data_set.html" target="_self">DataSet</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_1_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/db4/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_gender_set.html" target="_self">GenderSet</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_2_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/db9/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_age_group_set.html" target="_self">AgeGroupSet</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_3_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/d46/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_joint_torque_set.html" target="_self">JointTorqueSet</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_4_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/de5/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_anderson2007.html" target="_self">Anderson2007</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_5_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d2/dac/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_gymnast.html" target="_self">Gymnast</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_6_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d6/d84/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_subject_information.html" target="_self">SubjectInformation</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_7_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/d8c/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_summary.html" target="_self">TorqueMuscleSummary</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_8_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/da5/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_info.html" target="_self">TorqueMuscleInfo</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_9_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/daa/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_parameter_fitting_data.html" target="_self">TorqueMuscleParameterFittingData</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_10_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d3/d64/struct_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_data_features.html" target="_self">TorqueMuscleDataFeatures</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_11_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d37/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_millard2016_torque_muscle.html" target="_self">Millard2016TorqueMuscle</a></td><td class="desc">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 <a class="el" href="d2/dc4/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_fitting_toolkit.html">TorqueMuscleFittingToolkit</a>) 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) </td></tr>
<tr id="row_2_0_1_12_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="de/dd7/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_muscle_function_factory.html" target="_self">MuscleFunctionFactory</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_13_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d80/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_function_factory.html" target="_self">TorqueMuscleFunctionFactory</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_14_"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d2/dc4/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_torque_muscle_fitting_toolkit.html" target="_self">TorqueMuscleFittingToolkit</a></td><td class="desc"></td></tr>
<tr id="row_2_0_1_15_" class="even"><td class="entry"><span style="width:64px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/dc3/class_rigid_body_dynamics_1_1_addons_1_1_muscle_1_1_fit_torque_muscle_parameters.html" target="_self">FitTorqueMuscleParameters</a></td><td class="desc"></td></tr>
<tr id="row_2_1_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_2_1_" class="arrow" onclick="toggleFolder('2_1_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="da/dbb/namespace_rigid_body_dynamics_1_1_errors.html" target="_self">Errors</a></td><td class="desc"></td></tr>
<tr id="row_2_1_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d87/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_error.html" target="_self">RBDLError</a></td><td class="desc">Base class for all RBDL exceptions </td></tr>
<tr id="row_2_1_1_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/d82/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_invalid_parameter_error.html" target="_self">RBDLInvalidParameterError</a></td><td class="desc">Thrown if parameter of function was faulty </td></tr>
<tr id="row_2_1_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d9/db1/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_size_mismatch_error.html" target="_self">RBDLSizeMismatchError</a></td><td class="desc">Thrown if there is a size mismatch that prevents further calculations </td></tr>
<tr id="row_2_1_3_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/d10/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_dof_mismatch_error.html" target="_self">RBDLDofMismatchError</a></td><td class="desc">Thrown if there is a dof mismatch </td></tr>
<tr id="row_2_1_4_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d1/d0c/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_missing_implementation_error.html" target="_self">RBDLMissingImplementationError</a></td><td class="desc">Thrown if code path reaches a point that is not implmented yet </td></tr>
<tr id="row_2_1_5_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d2/d7b/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_invalid_file_error.html" target="_self">RBDLInvalidFileError</a></td><td class="desc">Thrown if the specified file could not be found/read </td></tr>
<tr id="row_2_1_6_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d2/db1/class_rigid_body_dynamics_1_1_errors_1_1_r_b_d_l_file_parse_error.html" target="_self">RBDLFileParseError</a></td><td class="desc">Thrown if the file beeing read contains errors </td></tr>
<tr id="row_2_2_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span id="arr_2_2_" class="arrow" onclick="toggleFolder('2_2_')">▼</span><span class="icona"><span class="icon">N</span></span><a class="el" href="d2/da0/namespace_rigid_body_dynamics_1_1_math.html" target="_self">Math</a></td><td class="desc"><a class="el" href="d2/da0/namespace_rigid_body_dynamics_1_1_math.html" title="Math types such as vectors and matrices and utility functions.">Math</a> types such as vectors and matrices and utility functions </td></tr>
<tr id="row_2_2_0_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/d19/class_rigid_body_dynamics_1_1_math_1_1_quaternion.html" target="_self">Quaternion</a></td><td class="desc"><a class="el" href="d0/d19/class_rigid_body_dynamics_1_1_math_1_1_quaternion.html" title="Quaternion that are used for singularity free joints.">Quaternion</a> that are used for singularity free joints </td></tr>
<tr id="row_2_2_1_"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/d1e/struct_rigid_body_dynamics_1_1_math_1_1_spatial_rigid_body_inertia.html" target="_self">SpatialRigidBodyInertia</a></td><td class="desc">Compact representation for Spatial Inertia </td></tr>
<tr id="row_2_2_2_" class="even"><td class="entry"><span style="width:48px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/df9/struct_rigid_body_dynamics_1_1_math_1_1_spatial_transform.html" target="_self">SpatialTransform</a></td><td class="desc">Compact representation of spatial transformations </td></tr>
<tr id="row_2_3_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dd2/struct_rigid_body_dynamics_1_1_body.html" target="_self">Body</a></td><td class="desc">Describes all properties of a single body </td></tr>
<tr id="row_2_4_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d9/d63/struct_rigid_body_dynamics_1_1_fixed_body.html" target="_self">FixedBody</a></td><td class="desc">Keeps the information of a body and how it is attached to another body </td></tr>
<tr id="row_2_5_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/d26/struct_rigid_body_dynamics_1_1_constraint_cache.html" target="_self">ConstraintCache</a></td><td class="desc"></td></tr>
<tr id="row_2_6_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d5/d92/class_rigid_body_dynamics_1_1_constraint.html" target="_self">Constraint</a></td><td class="desc">Interface to define general-purpose constraints </td></tr>
<tr id="row_2_7_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/d25/class_rigid_body_dynamics_1_1_contact_constraint.html" target="_self">ContactConstraint</a></td><td class="desc">Implements a rigid kinematic body-point–to–ground constraint along a normal direction as described in Ch. 11 of Featherstone's Rigid <a class="el" href="da/dd2/struct_rigid_body_dynamics_1_1_body.html" title="Describes all properties of a single body.">Body</a> Dynamics Algorithms book </td></tr>
<tr id="row_2_8_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d5/d28/class_rigid_body_dynamics_1_1_loop_constraint.html" target="_self">LoopConstraint</a></td><td class="desc">Implements a rigid kinematic loop (or body-to-body) constraints as described in Ch. 8 of Featherstone's Rigid <a class="el" href="da/dd2/struct_rigid_body_dynamics_1_1_body.html" title="Describes all properties of a single body.">Body</a> Dynamics Algorithms book </td></tr>
<tr id="row_2_9_"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d7/de7/struct_rigid_body_dynamics_1_1_constraint_set.html" target="_self">ConstraintSet</a></td><td class="desc">Structure that contains both constraint information and workspace memory </td></tr>
<tr id="row_2_10_" class="even"><td class="entry"><span style="width:32px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d5/d19/struct_rigid_body_dynamics_1_1_inverse_kinematics_constraint_set.html" target="_self">InverseKinematicsConstraintSet</a></td><td class="desc"></td></tr>
<tr id="row_3_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="df/de7/struct_human_meta_data.html" target="_self">HumanMetaData</a></td><td class="desc"></td></tr>
<tr id="row_4_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dd/d12/struct_local_frame.html" target="_self">LocalFrame</a></td><td class="desc"></td></tr>
<tr id="row_5_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dd1/class_logging_guard.html" target="_self">LoggingGuard</a></td><td class="desc">Helper object to ignore any logs that happen during its lifetime </td></tr>
<tr id="row_6_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d4/d57/class_matrix3__t.html" target="_self">Matrix3_t</a></td><td class="desc"></td></tr>
<tr id="row_7_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="db/d47/class_matrix4__t.html" target="_self">Matrix4_t</a></td><td class="desc"></td></tr>
<tr id="row_8_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="de/dbf/struct_millard2016_torque_muscle_config.html" target="_self">Millard2016TorqueMuscleConfig</a></td><td class="desc"></td></tr>
<tr id="row_9_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d7/de0/struct_motion_capture_marker.html" target="_self">MotionCaptureMarker</a></td><td class="desc"></td></tr>
<tr id="row_10_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/dc8/struct_point.html" target="_self">Point</a></td><td class="desc"></td></tr>
<tr id="row_11_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="da/dcc/class_spatial_matrix__t.html" target="_self">SpatialMatrix_t</a></td><td class="desc"></td></tr>
<tr id="row_12_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d8/d74/class_spatial_vector__t.html" target="_self">SpatialVector_t</a></td><td class="desc"></td></tr>
<tr id="row_13_"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="dc/da4/class_vector3__t.html" target="_self">Vector3_t</a></td><td class="desc"></td></tr>
<tr id="row_14_" class="even"><td class="entry"><span style="width:16px;display:inline-block;"> </span><span class="icona"><span class="icon">C</span></span><a class="el" href="d0/dcd/class_vector4__t.html" target="_self">Vector4_t</a></td><td class="desc"></td></tr>
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