| _array< TYPE > | Simple port of STL vector template |
| _rmatrix< TYPE > | General dense matrix and linear algebraic calculation |
| dse3 | Dual space of se(3) |
| Inertia | Generalized inertia tensor |
| se3 | Lie algebra of SE(3) |
| SE3 | Special Euclidean group |
| Transform1DOF | Abstract class model an arbitrary 1 DOF joint |
| TransformNDOF | Abstract class model an arbitrary N DOF joint |
| Vec3 | 3 dimensional vector |
| vp1DOFJoint | Arbitrary 1 DOF joint |
| vpBJoint | Ball and socket joint class |
| vpBody | Rigid body |
| vpBox | Box primitive geometry |
| vpCapsule | Capsule primitive geometry |
| vpCollisionDetector | Abstract class for detecting collision between rigid bodies |
| vpCollisionDSC | Collision Descriptor |
| vpGeom | Abstract class for primitive geometries |
| vpHelixJoint | Helix shaped 1 DOF joint |
| vpJoint | Abstract class for joint |
| vpMaterial | Material properties of rigid bodies |
| vpNDOFJoint | Arbitrary N DOF joint |
| vpPJoint | Prismatic joint |
| vpPrimitiveCollisionDetector | Detecting collision between rigid bodies built as a compound of pritimive geometries |
| vpRJoint | Revolute joint |
| vpSJoint | Sliding joint class |
| vpSphere | Sphere primitive geometry |
| vpSpring | Elastic spring |
| vpUJoint | Universal joint class |
| vpWJoint | Welding joint class |
| vpWorld | World |
1.5.5