Here is a list of all files with brief descriptions:

[detail level 12345]

▼ dart
► collision
► bullet
► detail
BulletCollisionDispatcher.cpp
BulletCollisionDispatcher.hpp
BulletOverlapFilterCallback.cpp
BulletOverlapFilterCallback.hpp
BulletCollisionDetector.cpp
BulletCollisionDetector.hpp
BulletCollisionGroup.cpp
BulletCollisionGroup.hpp
BulletCollisionObject.cpp
BulletCollisionObject.hpp
BulletCollisionShape.cpp
BulletCollisionShape.hpp
BulletTypes.cpp
BulletTypes.hpp
► dart
DARTCollide.cpp
DARTCollide.hpp
DARTCollisionDetector.cpp
DARTCollisionDetector.hpp
DARTCollisionGroup.cpp
DARTCollisionGroup.hpp
DARTCollisionObject.cpp
DARTCollisionObject.hpp
► detail
CollisionDetector.hpp
CollisionGroup.hpp
Contact-impl.hpp
UnorderedPairs.hpp
► fcl
BackwardCompatibility.cpp
BackwardCompatibility.hpp
CollisionShapes.hpp
FCLCollisionDetector.cpp
FCLCollisionDetector.hpp
FCLCollisionGroup.cpp
FCLCollisionGroup.hpp
FCLCollisionObject.cpp
FCLCollisionObject.hpp
FCLTypes.cpp
FCLTypes.hpp
tri_tri_intersection_test.hpp
► ode
► detail
OdeBox.cpp
OdeBox.hpp
OdeCapsule.cpp
OdeCapsule.hpp
OdeCylinder.cpp
OdeCylinder.hpp
OdeGeom.cpp
OdeGeom.hpp
OdeHeightmap-impl.hpp
OdeHeightmap.hpp
OdeMesh.cpp
OdeMesh.hpp
OdePlane.cpp
OdePlane.hpp
OdeSphere.cpp
OdeSphere.hpp
OdeCollisionDetector.cpp
OdeCollisionDetector.hpp
OdeCollisionGroup.cpp
OdeCollisionGroup.hpp
OdeCollisionObject.cpp
OdeCollisionObject.hpp
OdeTypes.cpp
OdeTypes.hpp
CollisionDetector.cpp
CollisionDetector.hpp
CollisionFilter.cpp
CollisionFilter.hpp
CollisionGroup.cpp
CollisionGroup.hpp
CollisionObject.cpp
CollisionObject.hpp
CollisionOption.cpp
CollisionOption.hpp
CollisionResult.cpp
CollisionResult.hpp
Contact.cpp
Contact.hpp
DistanceFilter.cpp
DistanceFilter.hpp
DistanceOption.cpp
DistanceOption.hpp
DistanceResult.cpp
DistanceResult.hpp
Option.hpp
RaycastOption.cpp
RaycastOption.hpp
RaycastResult.cpp
RaycastResult.hpp
Result.hpp
SmartPointer.hpp
► common
► detail
AlignedAllocator.hpp
Aspect.hpp
AspectWithVersion.hpp
Cloneable.hpp
Composite.hpp
CompositeData.hpp
CompositeJoiner.hpp
ConnectionBody.cpp
ConnectionBody.hpp
EmbeddedAspect.hpp
Factory-impl.hpp
LockableReference-impl.hpp
Memory-impl.hpp
NameManager.hpp
NoOp.hpp
ProxyAspect.hpp
RequiresAspect.hpp
SharedLibraryManager.cpp
SharedLibraryManager.hpp
Signal.hpp
Singleton-impl.hpp
SpecializedForAspect.hpp
sub_ptr.hpp
TemplateJoinerDispatchMacro.hpp
Aspect.cpp
Aspect.hpp
AspectWithVersion.hpp
ClassWithVirtualBase.hpp
Cloneable.hpp
Composite.cpp
Composite.hpp
CompositeJoiner.hpp
Console.cpp
Console.hpp
Deprecated.hpp
EmbeddedAspect.hpp
Empty.hpp
Factory.hpp
LocalResource.cpp
LocalResource.hpp
LocalResourceRetriever.cpp
LocalResourceRetriever.hpp
LockableReference.hpp
Memory.hpp
NameManager.hpp
Observer.cpp
Observer.hpp
Optional.hpp
Platform.hpp
ProxyAspect.hpp
RequiresAspect.hpp
Resource.cpp
Resource.hpp
ResourceRetriever.cpp
ResourceRetriever.hpp
SharedLibrary.cpp
SharedLibrary.hpp
Signal.cpp
Signal.hpp
Singleton.hpp
SmartPointer.hpp
SpecializedForAspect.hpp
StlHelpers.hpp
sub_ptr.hpp
Subject.cpp
Subject.hpp
Timer.cpp
Timer.hpp
Uri.cpp
Uri.hpp
VersionCounter.cpp
VersionCounter.hpp
Virtual.hpp
► constraint
► detail
BoxedLcpSolver-impl.hpp
BalanceConstraint.cpp
BalanceConstraint.hpp
BallJointConstraint.cpp
BallJointConstraint.hpp
BoxedLcpConstraintSolver.cpp
BoxedLcpConstraintSolver.hpp
BoxedLcpSolver.hpp
ConstrainedGroup.cpp
ConstrainedGroup.hpp
ConstraintBase.cpp
ConstraintBase.hpp
ConstraintSolver.cpp
ConstraintSolver.hpp
ContactConstraint.cpp
ContactConstraint.hpp
DantzigBoxedLcpSolver.cpp
DantzigBoxedLcpSolver.hpp
DantzigLCPSolver.cpp
DantzigLCPSolver.hpp
JointConstraint.cpp
JointConstraint.hpp
JointCoulombFrictionConstraint.cpp
JointCoulombFrictionConstraint.hpp
JointLimitConstraint.cpp
JointLimitConstraint.hpp
LCPSolver.cpp
LCPSolver.hpp
MimicMotorConstraint.cpp
MimicMotorConstraint.hpp
PgsBoxedLcpSolver.cpp
PgsBoxedLcpSolver.hpp
PGSLCPSolver.cpp
PGSLCPSolver.hpp
ServoMotorConstraint.cpp
ServoMotorConstraint.hpp
SmartPointer.hpp
SoftContactConstraint.cpp
SoftContactConstraint.hpp
WeldJointConstraint.cpp
WeldJointConstraint.hpp
► dynamics
► detail
BasicNodeManager.hpp
BodyNode.hpp
BodyNodeAspect.hpp
BodyNodePtr.hpp
CompositeNode.hpp
DegreeOfFreedomPtr.hpp
EndEffectorAspect.hpp
EntityNode.hpp
EntityNodeAspect.cpp
EntityNodeAspect.hpp
EulerJointAspect.cpp
EulerJointAspect.hpp
FixedFrameAspect.hpp
FixedJacobianNode.hpp
GenericJoint.hpp
GenericJointAspect.hpp
HeightmapShape-impl.hpp
InverseKinematics.hpp
InverseKinematicsPtr.hpp
JointAspect.hpp
JointPtr.hpp
MarkerAspect.hpp
Node.hpp
NodeManagerJoiner.hpp
NodePtr.hpp
PlanarJointAspect.cpp
PlanarJointAspect.hpp
PrismaticJointAspect.cpp
PrismaticJointAspect.hpp
RevoluteJointAspect.cpp
RevoluteJointAspect.hpp
ScrewJointAspect.cpp
ScrewJointAspect.hpp
Shape.hpp
ShapeFrameAspect.hpp
ShapeNode.hpp
Skeleton.hpp
SkeletonAspect.hpp
SoftBodyNodeAspect.hpp
SpecializedNodeManager.hpp
TemplatedJacobianNode.hpp
TranslationalJoint2DAspect.cpp
TranslationalJoint2DAspect.hpp
UniversalJointAspect.cpp
UniversalJointAspect.hpp
ArrowShape.cpp
ArrowShape.hpp
AssimpInputResourceAdaptor.cpp
AssimpInputResourceAdaptor.hpp
BallJoint.cpp
BallJoint.hpp
BodyNode.cpp
BodyNode.hpp
BoxShape.cpp
BoxShape.hpp
Branch.cpp
Branch.hpp
CapsuleShape.cpp
CapsuleShape.hpp
Chain.cpp
Chain.hpp
CompositeNode.hpp
ConeShape.cpp
ConeShape.hpp
CylinderShape.cpp
CylinderShape.hpp
DegreeOfFreedom.cpp
DegreeOfFreedom.hpp
EllipsoidShape.cpp
EllipsoidShape.hpp
EndEffector.cpp
EndEffector.hpp
Entity.cpp
Entity.hpp
EntityNode.hpp
EulerJoint.cpp
EulerJoint.hpp
FixedFrame.cpp
FixedFrame.hpp
FixedJacobianNode.cpp
FixedJacobianNode.hpp
Frame.cpp
Frame.hpp
FreeJoint.cpp
FreeJoint.hpp
GenericJoint.hpp
Group.cpp
Group.hpp
HeightmapShape.hpp
HierarchicalIK.cpp
HierarchicalIK.hpp
IkFast.cpp
IkFast.hpp
Inertia.cpp
Inertia.hpp
InvalidIndex.hpp
InverseKinematics.cpp
InverseKinematics.hpp
JacobianNode.cpp
JacobianNode.hpp
Joint.cpp
Joint.hpp
LineSegmentShape.cpp
LineSegmentShape.hpp
Linkage.cpp
Linkage.hpp
Marker.cpp
Marker.hpp
MeshShape.cpp
MeshShape.hpp
MetaSkeleton.cpp
MetaSkeleton.hpp
MultiSphereConvexHullShape.cpp
MultiSphereConvexHullShape.hpp
MultiSphereShape.hpp
Node.cpp
Node.hpp
NodeManagerJoiner.hpp
PlanarJoint.cpp
PlanarJoint.hpp
PlaneShape.cpp
PlaneShape.hpp
PointCloudShape.cpp
PointCloudShape.hpp
PointMass.cpp
PointMass.hpp
PrismaticJoint.cpp
PrismaticJoint.hpp
PyramidShape.cpp
PyramidShape.hpp
ReferentialSkeleton.cpp
ReferentialSkeleton.hpp
RevoluteJoint.cpp
RevoluteJoint.hpp
ScrewJoint.cpp
ScrewJoint.hpp
Shape.cpp
Shape.hpp
ShapeFrame.cpp
ShapeFrame.hpp
ShapeNode.cpp
ShapeNode.hpp
SharedLibraryIkFast.cpp
SharedLibraryIkFast.hpp
SimpleFrame.cpp
SimpleFrame.hpp
Skeleton.cpp
Skeleton.hpp
SmartPointer.hpp
SoftBodyNode.cpp
SoftBodyNode.hpp
SoftMeshShape.cpp
SoftMeshShape.hpp
SpecializedNodeManager.hpp
SphereShape.cpp
SphereShape.hpp
TemplatedJacobianNode.hpp
TranslationalJoint.cpp
TranslationalJoint.hpp
TranslationalJoint2D.cpp
TranslationalJoint2D.hpp
UniversalJoint.cpp
UniversalJoint.hpp
VoxelGridShape.cpp
VoxelGridShape.hpp
WeldJoint.cpp
WeldJoint.hpp
ZeroDofJoint.cpp
ZeroDofJoint.hpp
► gui
► glut
GLUTFuncs.cpp
GLUTFuncs.hpp
GlutWindow.cpp
GraphWindow.cpp
GraphWindow.hpp
LoadGlut.hpp
MotionBlurSimWindow.cpp
MotionBlurSimWindow.hpp
SimWindow.cpp
SimWindow.hpp
SoftSimWindow.cpp
SoftSimWindow.hpp
Win2D.cpp
Win2D.hpp
Win3D.cpp
Win3D.hpp
Window.hpp
► osg
► render
BoxShapeNode.cpp
BoxShapeNode.hpp
CapsuleShapeNode.cpp
CapsuleShapeNode.hpp
ConeShapeNode.cpp
ConeShapeNode.hpp
CylinderShapeNode.cpp
CylinderShapeNode.hpp
EllipsoidShapeNode.cpp
EllipsoidShapeNode.hpp
HeightmapShapeNode.hpp
LineSegmentShapeNode.cpp
LineSegmentShapeNode.hpp
MeshShapeNode.cpp
MeshShapeNode.hpp
MultiSphereShapeNode.cpp
MultiSphereShapeNode.hpp
PlaneShapeNode.cpp
PlaneShapeNode.hpp
PointCloudShapeNode.cpp
PointCloudShapeNode.hpp
PyramidShapeNode.cpp
PyramidShapeNode.hpp
ShapeNode.cpp
ShapeNode.hpp
SoftMeshShapeNode.cpp
SoftMeshShapeNode.hpp
SphereShapeNode.cpp
SphereShapeNode.hpp
VoxelGridShapeNode.cpp
VoxelGridShapeNode.hpp
WarningShapeNode.cpp
WarningShapeNode.hpp
DefaultEventHandler.cpp
DefaultEventHandler.hpp
DragAndDrop.cpp
DragAndDrop.hpp
GridVisual.cpp
GridVisual.hpp
ImGuiHandler.cpp
ImGuiHandler.hpp
ImGuiViewer.cpp
ImGuiViewer.hpp
ImGuiWidget.cpp
ImGuiWidget.hpp
InteractiveFrame.cpp
InteractiveFrame.hpp
MouseEventHandler.hpp
RealTimeWorldNode.cpp
RealTimeWorldNode.hpp
ShapeFrameNode.cpp
ShapeFrameNode.hpp
SupportPolygonVisual.cpp
SupportPolygonVisual.hpp
TrackballManipulator.cpp
TrackballManipulator.hpp
Utils.hpp
Viewer.cpp
Viewer.hpp
WorldNode.cpp
WorldNode.hpp
GLFuncs.cpp
GLFuncs.hpp
GlutWindow.hpp
GraphWindow.hpp
LoadGlut.hpp
LoadOpengl.hpp
MotionBlurSimWindow.hpp
OpenGLRenderInterface.cpp
OpenGLRenderInterface.hpp
RenderInterface.cpp
RenderInterface.hpp
SimWindow.hpp
SoftSimWindow.hpp
Trackball.cpp
Trackball.hpp
Win2D.hpp
Win3D.hpp
► integration
EulerIntegrator.cpp
EulerIntegrator.hpp
Integrator.cpp
Integrator.hpp
RK4Integrator.cpp
RK4Integrator.hpp
SemiImplicitEulerIntegrator.cpp
SemiImplicitEulerIntegrator.hpp
► lcpsolver
Lemke.cpp
Lemke.hpp
ODELCPSolver.cpp
ODELCPSolver.hpp
► math
► detail
ConfigurationSpace.hpp
Random-impl.hpp
ConfigurationSpace.cpp
ConfigurationSpace.hpp
Constants.hpp
Geometry.cpp
Geometry.hpp
Helpers.hpp
MathTypes.hpp
Random.cpp
Random.hpp
► optimizer
► ipopt
BackwardCompatibility.hpp
IpoptSolver.cpp
IpoptSolver.hpp
► nlopt
NloptSolver.cpp
NloptSolver.hpp
► pagmo
PagmoMultiObjectiveProblemAdaptor.cpp
PagmoMultiObjectiveProblemAdaptor.hpp
PagmoMultiObjectiveSolver.cpp
PagmoMultiObjectiveSolver.hpp
PagmoUtils.cpp
PagmoUtils.hpp
► snopt
SnoptInterface.cpp
SnoptInterface.hpp
SnoptSolver.cpp
SnoptSolver.hpp
Function.cpp
Function.hpp
GenericMultiObjectiveProblem.cpp
GenericMultiObjectiveProblem.hpp
GradientDescentSolver.cpp
GradientDescentSolver.hpp
MultiObjectiveProblem.cpp
MultiObjectiveProblem.hpp
MultiObjectiveSolver.cpp
MultiObjectiveSolver.hpp
Population.cpp
Population.hpp
Problem.cpp
Problem.hpp
Solver.cpp
Solver.hpp
► planning
Path.cpp
Path.hpp
PathFollowingTrajectory.cpp
PathFollowingTrajectory.hpp
PathPlanner.hpp
PathShortener.cpp
PathShortener.hpp
RRT.cpp	The generic RRT implementation. It can be inherited for modifications to collision checking, sampling and etc
RRT.hpp
Trajectory.hpp
► simulation
► detail
World-impl.hpp
Recording.cpp
Recording.hpp
SmartPointer.hpp
World.cpp
World.hpp
► utils
► mjcf
► detail
Asset.cpp
Asset.hpp
Body.cpp
Body.hpp
BodyAttributes.cpp
BodyAttributes.hpp
Compiler.cpp
Compiler.hpp
Default.cpp
Default.hpp
Equality.cpp
Equality.hpp
Error.cpp
Error.hpp
Geom.cpp
Geom.hpp
GeomAttributes.cpp
GeomAttributes.hpp
Inertial.cpp
Inertial.hpp
Joint.cpp
Joint.hpp
JointAttributes.cpp
JointAttributes.hpp
Mesh.cpp
Mesh.hpp
MeshAttributes.cpp
MeshAttributes.hpp
MujocoModel.cpp
MujocoModel.hpp
Option.cpp
Option.hpp
Site.cpp
Site.hpp
Size.cpp
Size.hpp
Types.hpp
Utils.cpp
Utils.hpp
Weld.cpp
Weld.hpp
WeldAttributes.cpp
WeldAttributes.hpp
Worldbody.cpp
Worldbody.hpp
MjcfParser.cpp
MjcfParser.hpp
► sdf
SdfParser.cpp
SdfParser.hpp
► urdf
DartLoader.cpp
DartLoader.hpp
urdf_world_parser.cpp
urdf_world_parser.hpp
URDFTypes.hpp
C3D.cpp
C3D.hpp
CompositeResourceRetriever.cpp
CompositeResourceRetriever.hpp
DartResourceRetriever.cpp
DartResourceRetriever.hpp
FileInfoC3D.cpp
FileInfoC3D.hpp
FileInfoDof.cpp
FileInfoDof.hpp
FileInfoWorld.cpp
FileInfoWorld.hpp
PackageResourceRetriever.cpp
PackageResourceRetriever.hpp
SkelParser.cpp
SkelParser.hpp
VskParser.cpp
VskParser.hpp
XmlHelpers.cpp
XmlHelpers.hpp
dart.cpp
dart.hpp
doxygen