Here is a list of all documented files with brief descriptions:

examples
examples_common.h	Contains common types and functions for the examples
include
franka
active_control.h	Implements the ActiveControlBase abstract class
active_control_base.h	Abstract interface class as the base of the active controllers
active_motion_generator.h	Contains the franka::ActiveMotionGenerator type
active_torque_control.h	Contains the franka::ActiveTorqueControl type
control_tools.h	Contains helper functions for writing control loops
control_types.h	Contains helper types for returning motion generation and joint-level torque commands
duration.h	Contains the franka::Duration type
errors.h	Contains the franka::Errors type
exception.h	Contains exception definitions
gripper.h	Contains the franka::Gripper type
gripper_state.h	Contains the franka::GripperState type
log.h	Contains helper types for logging sent commands and received robot states
lowpass_filter.h	Contains functions for filtering signals with a low-pass filter
model.h	Contains model library types
rate_limiting.h	Contains functions for limiting the rate of torques, Cartesian pose, Cartesian velocity, joint position and joint velocity
robot.h	Contains the franka::Robot type
robot_model.h
robot_model_base.h
robot_state.h	Contains the franka::RobotState types
vacuum_gripper.h	Contains the franka::VacuumGripper type
vacuum_gripper_state.h	Contains the franka::VacuumGripperState type