| xpp::Convert | Converts between xpp-states types and xpp-messages |
| xpp::Endeffectors< T > | Data structure to assign values to each endeffector |
| xpp::EndeffectorsContact | Bundles the contact state of all endeffectors |
| xpp::EndeffectorsMotion | Bundles the position, velocity and acceleration of all endeffectors. as well as appending a EndeffectorMotion specific convenience function |
| xpp::Joints | Container to access joint values of each endeffectors |
| xpp::RobotStateCartesian | Defines a complete robot state in Cartesian space |
| xpp::RobotStateJoint | Defines a complete robot state in joint space |
| xpp::State3d | 6D-State (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by a Quaternion |
| xpp::State3dEuler | 6D-state (linear+angular) of an object in 3-dimensional space, where the angular part is expressed by Euler angles |
| xpp::StateAng3d | Angular state of an object in 3-dimensional space |
| xpp::StateLin1d | |
| xpp::StateLin2d | |
| xpp::StateLin3d | |
| xpp::StateLinXd | Represents position, velocity and acceleration in x-dimensions |