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

CR3D	A 3D rotation
CT3D	A 3D affine transformation
CT3DAny	Abstract representation
CT3DBryan	Tait-Bryan angles and translation
CT3DMatrix	Homogeneous matrix
CT3DUBryan	Uncertain Tait-Bryan angles and translation
CT3DUMatrix	Uncertain Homogeneous matrix
CT3DUVector	Uncertain rotation vector and translation
CT3DVector	Rotation vector and translation
CV3D	A 3D vector