| srdf::Model::DisabledCollision | The definition of a disabled collision between two links |
| srdf::Model::EndEffector | Representation of an end effector |
| srdf::Model::Group | A group consists of a set of joints and the corresponding descendant links. There are multiple ways to specify a group. Directly specifying joints, links or chains, or referring to other defined groups |
| srdf::Model::GroupState | A named state for a particular group |
| srdf::Model::LinkSpheres | The definition of a list of spheres for a link |
| srdf::Model | Representation of semantic information about the robot |
| srdf::Model::PassiveJoint | |
| srdf::Model::Sphere | The definition of a sphere |
| srdf::Model::VirtualJoint |