| descartes_core::Frame | Frame is a wrapper for an affine frame transform. Frame inverse can also be stored for increased speed in downstream calculations |
| descartes_core::detail::IdGenerator< uint64_t > | This specialization of the id generator uses a 64 bit unsigned integer for the unique 'state'. Zero is reserved as a special value |
| descartes_core::PathPlannerBase | |
| descartes_core::RobotModel | RobotModel defines the interface to a kinematics/dynamics functions. Implementations of this class will be used in conjunction with TrajectoryPt objects to determine forward and inverse kinematics |
| descartes_core::TimingConstraint | A window of time for this point to be achieved relative to a previous point or the starting position |
| descartes_core::TrajectoryID_< T > | TrajectoryID_ represents a unique id to be associated with a TrajectoryPt |
| descartes_core::TrajectoryPt |