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

[detail level 1234]

▼Nhpp
▼NcorbaServer
▼Nmanipulation
CClient
▼Ncorbaserver
▼Nmanipulation
CGraph
CProblem
CRobot
CRule	Describe a rule to link or not, a gripper and a handle
▼Nmanipulation
CServer
▼Nmanipulation_idl
▼Ngraph_idl
CEdge
CGraph
CGraphComponent
CLevelSetEdge
CState
CStateSelector
CValidation
▼NpathPlanner_idl
CEndEffectorTrajectory
CIkSolverInitialization
CTransitionPlanner
▼NsteeringMethod
CEndEffectorTrajectory
CDevice
CHandle
CProblem
CRoadmap
CConfigProjStat
CGraphComp
CGraphElements
▼Nmanipulation
▼Nconstraint_graph
CConstraintGraph
▼Nconstraint_graph_factory
CConstraintFactory
CConstraintFactoryAbstract
▼CConstraintGraphFactory
CStateAndManifold
CGraphFactoryAbstract
CGraspIsAllowed
CRules
▼Nconstraints
CConstraints
▼Nproblem_solver
CProblemSolver
▼Nrobot
CCorbaClient
CHumanoidRobot
CRobot
▼Nsecurity_margins
CSecurityMargins