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

[detail level 12]

▼Nbezier_com_traj
CContactData	Contact data contains all the contact information relative to a contact phase: contact points and normals (within Equilibrium object), as well as any additional kinematic and angular constraints
CConstraints	Used to define the constraints on the trajectory generation problem. Flags are used to constrain initial and terminal com positions an derivatives. Additionally, the maximum acceleration can be bounded
CProblemData	Defines all the inputs of the problem: Initial and terminal constraints, as well as selected cost functions. Also,a list of ContactData defines the different phases of the problem. While the method can handle any phase greater than one, using more than three phases is probably too constraining
CResultDataCOMTraj	Specialized ResultData that computes the Bezier curves corresponding to the computed trajectory
Cwaypoint_t