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

[detail level 123]

▼Nwbc
CAccelerationScene	Acceleration-based implementation of the WBC Scene. It sets up and solves the following optimization problem:
CAccelerationSceneReducedTSID	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem:
CAccelerationSceneTSID	Acceleration-based implementation of the WBC Scene. It sets up and solves the following problem:
CActivationFunction
CActiveContact
CActiveContacts
CCartesianAccelerationTask	Implementation of a Cartesian acceleration task
CCartesianForcePIDController	CartesianForcePIDController implements a PID Controller on a Wrench data type
CCartesianPosPDController	Implements a PD Controller with feed forward on the RigidBodyStateSE3 type. The following control schemes are available:
CCartesianPotentialFieldsController	The PotentialFieldsController class implements a multi potential field controller in Cartesian space
CCartesianTask	Abstract interface for a task in Cartesian space
CCartesianVelocityTask	Implementation of a Cartesian velocity task
CCoMAccelerationTask	Implementation of a CoM velocity task
CCoMVelocityTask	Implementation of a CoM velocity task
CConstraint	Abstract class to represent a generic hard (linear) constraint for a WBC optimization problem. the constraint belongs to one of three types: equality Ax = b inequality lb <= Ax <= ub bounds lb <= x <= ub
CContactsAccelerationConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
CContactsFrictionPointConstraint
CContactsFrictionSurfaceConstraint
CContactsVelocityConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
CEffortLimitsAccelerationConstraint	Effort limits constraint for reduced TSID scene since torques are not part of qp, torque limits are enforced through acceleration and external forces limits using the linear dependecy given by the dynamic model
CEiquadprogSolver	Wrapper for the qp-solver eiquadprog (see https://github.com/stack-of-tasks/eiquadprog). It solves problems of shape:
▼CHierarchicalLSSolver	Implementation of the hierarchical weighted damped least squares solver (HWLS), similar to Schutter, J. et al. “Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty.” The International Journal of Robotics Research 26 (2007): 433 - 455. It solves the following optimization problem
CPriorityData	The PriorityDataIntern class Manages all priority dependent information, i.e. all matrices that have to be resized according to the number of rows per priority
CHierarchicalQP	Describes a hierarchy of quadratic programs
CJointAccelerationTask	Implementation of a Joint velocity task
CJointIntegrator	Implements different numerical integrators
CJointLimitAvoidanceController
CJointLimitsAccelerationConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
CJointLimitsVelocityConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
CJointPosPDController	Implements a PD Controller with feed forward on the base-Joints type. The following control schemes are available:
CJointTask	Abstract interface for a task in joint space
CJointTorquePIDController
CJointVelocityTask	Implementation of a Joint velocity task
CJointWeights
COsqpSolver
CPIDController	Implements an n-dimensional PID controller
CPIDCtrlParams
CPlanarPotentialField	Planar Potential field. The gradient will be constant on planes parallel to the plane defined by x0 (origin) and n (surface normal)
CPluginLoader
CPosPDController	Implements the following two control scemes
CPotentialField	Base class for potential fields
CPotentialFieldInfo
CPotentialFieldsController	Base class for potential field controllers
CProxQPSolver	Wrapper for the qp-solver prox-qp (see https://github.com/Simple-Robotics/proxsuite). It solves problems of shape:
CQPOASESSolver	Wrapper for the qp-solver qpoases (see https://www.coin-or.org/qpOASES/doc/3.0/manual.pdf). It solves problems of shape:
CQPSolver
CQPSolverConfig
CQPSolverFactory
CQPSolverRegistry
CQPSwiftSolver
CQuadraticProgram	Describes a quadratic program of the form
CRadialPotentialField	Radial Potential field. The computed gradient will be constant on volumnes with constant radius around the center of the potential field:
CRigidbodyDynamicsConstraint	Abstract class to represent a generic hard constraint for a WBC optimization problem
CRobotModel	Interface for all robot models. This has to provide all kinematics and dynamics information that is required for WBC
CRobotModelConfig	Robot Model configuration class
CRobotModelFactory
CRobotModelHyrodyn
CRobotModelPinocchio
CRobotModelRBDL
CRobotModelRegistry
CScene	Base class for all wbc scenes
CSceneConfig
CSceneFactory
CSceneRegistry
CTask	Abstract class to represent a generic task for a WBC optimization problem
CTaskConfig	Defines a task in the whole body control problem. Valid Configurations are e.g
CTasksStatus
CTaskStatus
CURDFTools
CVelocityScene	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem:
CVelocitySceneQP	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem: