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

[detail level 123]

▼Nwbc
▼Ntypes
CContact	Describes a rigid contact between a robot link and the environment. This can be either a point or surface contact
CJointCommand
CJointLimits
CJointState	Describes either the state or the command for a set of joints, i.e., its actual or target position, velocity, acceleration and effort
CLimits
CPose
CRigidBodyState
CSpatialAcceleration
CTwist
CWrench
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:
CCartesianPotentialFieldsController	The PotentialFieldsController class implements a multi potential field controller in Cartesian space
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
CContactForceTask
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:
CHierarchicalQP	Describes a hierarchy of quadratic programs
CHPIPMSolver
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:
CJointVelocityTask	Implementation of a Joint velocity task
COsqpSolver	The OsqpSolver solves convex quadratic programs (QPs) of the form
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	Helper class to load the robot model, solver and scene plugins
CPotentialField	Base class for potential fields
CPotentialFieldInfo
CPotentialFieldsController	Eigen 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	Base class for all QP solvers
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. Conventions and usage:
CMatrix
CPose
CRigidBodyState
CSpatialAcceleration
CTwist
CVector
CRobotModelConfig	Robot Model configuration class, containts information like urdf file, type of robot model to be loaded, etc
CRobotModelFactory
CRobotModelHyrodyn
CRobotModelPinocchio
CRobotModelRBDL
CRobotModelRegistry
CScene	Base class for all wbc scenes
CSceneFactory
CSceneRegistry
CSpatialAccelerationTask	Implementation of a Cartesian acceleration task
CSpatialVelocityTask	Implementation of a Cartesian velocity task
CTask	Abstract class to represent a generic task for a WBC optimization problem
CTaskConfig	Defines a task in the whole body control problem
CURDFTools
CVelocitySceneQP	Velocity-based implementation of the WBC Scene. It sets up and solves the following problem:
CWrenchPIDController	CartesianForcePIDController implements a PID Controller on a Wrench data type
Clogger