  behaviourcontrol | This namespace defines everything that is required for the Behaviour Control Framework |
   Behaviour | Implements a single behaviour |
| ActuatorManager | Implements a manager of a particular group of actuators |
| ActuatorBase | Implements a single actuator |
| Actuator | Implements a single actuator of a given data type |
| Sensor | Implements a single sensor of a given data type |
| BehaviourLayer | Implements a single behaviour layer |
 BBasePair | Data structure used to represent a basic inhibition pair, where behaviour A is taken to inhibit behaviour B |
| BehaviourManager | Implements a single behaviour manager |
| SensorManager | Implements a manager of a particular group of sensors |
| SensorBase | Implements a single sensor |
| cap_gait | This namespace defines everything that is required for the capture step gait |
| ComFilter | Filters a 2D CoM position, and calculates and smooths an estimate of the CoM velocity |
| CapGait | A capture step gait, implemented as a GaitEngine plugin for the Gait motion module |
| CapConfig | Configuration struct for the capture step gait |
| fall_protection | |
| FallProtection | Motion module that provides fall protection for the robot |
| field_model | |
| WorldObject | |
| FieldModel | Model of the soccer field |
| gait | Contains all classes necessary for the generic gait motion module |
| Gait | Generic gait motion module that can execute a given GaitEngine |
| GaitCommand | Gait command data structure |
| GaitEngine | Base implementation of a gait engine, made to work with the Gait motion module |
| GaitEngineInput | Data struct for passing gait engine input data from the generic gait motion module to the gait engine that it manages |
| GaitEngineOutput | Data struct for passing gait engine output data from the gait engine to the generic gait motion module that manages it |
| AbstractLegPose | Data struct that encompasses the abstract representation of a leg pose |
| AbstractArmPose | Data struct that encompasses the abstract representation of an arm pose |
| AbstractPose | Data struct that encompasses the abstract representation of a robot pose |
| CommonLegData | Data struct that contains the information pertaining to a leg pose that should be common amongst all pose representations |
| CommonArmData | Data struct that contains the information pertaining to an arm pose that should be common amongst all pose representations |
| InverseLegPose | Data struct that encompasses the inverse representation of a leg pose |
| InverseArmPose | Data struct that encompasses the inverse representation of an arm pose |
| InversePose | Data struct that encompasses the inverse representation of a robot pose |
| JointLegPose | Data struct that encompasses the joint representation of a leg pose |
| JointArmPose | Data struct that encompasses the joint representation of an arm pose |
| JointPose | Data struct that encompasses the joint representation of a robot pose |
| hash_lib | |
| CRC32 | Compute CRC32 hash, based on Intel's Slicing-by-8 algorithm |
| Keccak | Compute Keccak hash (designated SHA3) |
| MD5 | Compute MD5 hash |
| SHA1 | Compute SHA1 hash |
| SHA256 | Compute SHA256 hash |
| SHA3 | Compute SHA3 hash |
| margait_contrib | |
| RobotModelVis | Encapsulates a visualisation of the state of a RobotModel object |
| nimbro_op_interface | |
| RobotInterface | Real robot interface |
| nimbro_utils | This namespace defines a set of various utilities, both ROS dependent and ROS agnostic, that can be used for common fundamental tasks |
| RosTimeMarker | Class that facilitates the timing of durations using ROS-time |
| RosTimeTracker | Class that facilitates the timing of multiple durations using ROS-time |
| RosServiceCaller | Provides basic functionality for controlling calls to ROS services |
| statecontroller | This namespace defines everything that is required for the State Controller Library |
| GenState | Specialises the State class using templates to take care of the most common overloads |
| State | Implements a state that a state controller can be in |
| StateQueue | Implements a dynamic State queue |
| StateController | Base class for all state controllers |
| tf_tools | The namespace for all tf tools |
| FilteredListener | A class similar to tf::TransformListener, only with the ability to filter tf messages |
| walk_and_kick | This namespace defines everything that is required for the walk and kick behaviour node |
| BehDiveForBall | A walk and kick behaviour state that dives for the ball |
| BehDribbleBall | A walk and kick behaviour state that dribbles the ball towards a target |
| BehGoBehindBall | A walk and kick behaviour state that lines up the robot with the ball and a target |
| BehKickBall | A walk and kick behaviour state that kicks the ball towards a target |
| BehPanicAttack | A walk and kick behaviour state that induces a panic attack and stops the robot still |
| BehSearchForBall | A walk and kick behaviour state that searches for the ball |
| BehStopped | A walk and kick behaviour state that simply tells the robot to stop in place |
| BehUnknownState | A walk and kick behaviour state that stands in for an unknown state or ID |
| GazeBehLookAround | A walk and kick gaze behaviour state that looks around |
| GazeBehLookAtBall | A walk and kick gaze behaviour state that looks at the ball (and does not move the head from the last commanded pose if the ball is not seen) |
| GazeBehLookDown | A walk and kick gaze behaviour state that looks down |
| GazeBehLookForBall | A walk and kick gaze behaviour state that looks for the ball |
| GazeBehLookLeftRight | A walk and kick gaze behaviour state that looks left and right |
| WalkBehWalkToPose | A walk and kick walk behaviour state that makes the robot walk to a desired target pose on the field |
| GameDefaultBallHandling | A walk and kick game state that implements default ball handling for playing soccer |
| GameDefaultGoalie | A walk and kick game state that implements default goalie behaviours for playing soccer |
| GameGazeForBall | A walk and kick game state that makes the robot look for the ball by gaze only |
| GamePanicAttack | A walk and kick game state that induces a panic attack |
| GamePenaltyBallHandling | A walk and kick game state that implements ball handling for taking a penalty kick |
| GamePenaltyGoalie | A walk and kick game state that implements goalie behaviours for defending a penalty kick |
| GamePositioning | A walk and kick game state that forces the robot to the positioning behaviour state |
| GameStopped | A walk and kick game state that forces the robot to the stopped behaviour state |
| GameUnknownState | A walk and kick game state that stands in for an unknown state or ID |
| GameWaitForBallInPlay | A walk and kick game state that waits for the ball to be in play |
| ActuatorVars | An interface class for encapsulating all of the data that the walk and kick behaviour states should command |
| WAKBehManager | A class that manages and executes the walk and kick behaviour states |
| WAKBehShared | A class that shares the required walk and kick variables amongst the behaviour state classes |
| WAKBehState | The base class for all walk and kick behaviour states |
| WAKBehStateCombined | A walk and kick behaviour state that combines two others (which are assumed to operate independently) |
| WAKConfig | Configuration struct for the walk and kick node |
| WAKGameManager | A class that manages and executes the walk and kick game states |
| WAKGameShared | A class that shares the required walk and kick variables amongst the game state classes |
| DynamicTargetPose | Simple class that encapsulates the variables needed to easily dynamically calculate a target pose |
| WAKGameState | The base class for all walk and kick game states |
| GameVars | An interface class for encapsulating all of the data that the walk and kick game states should command |
| GCRosInterface | An interface class to the ROS world for getting game controller messages |
| GCVars | A class that encapsulates all of the game controller input data to the walk and kick node |
| WAKRosInterface | An interface class between the walk and kick and ROS worlds |
| SensorVars | An interface class for encapsulating all of the ROS input data to the walk and kick node |
| TCRosInterface | An interface class to the ROS world for team communications |
| TCRobotListener | A class that listens to the team communications data of one particular robot |
| TCVars | A class that encapsulates all of the team communication input data to the walk and kick node |
| TCRobotVars | A class that encapsulates all of the team communications data received from one particular robot |
| WAKUtils | A collection of independent helper functions that should be available to all |
| Counter | A simple counter class for counting events |
| TheWorm | A class that implements the worm, for making a live decision between two opposites |
| LiveTrapVelSpline | A wrapper class for the trapezoidal velocity spline class rc_utils::TrapVelSpline with a focus on smoothly supporting live updates of the spline |
| TrapVelSpline2D | A trapezoidal velocity spline that operates in 2D, based on the rc_utils::TrapVelSpline class |
| FieldDimensions | A simple class for abstracting away the source of the field dimensions |
| WAKMarkerMan | Visualisation marker manager for the walk and kick node |
| WAKBagMarkerMan | Visualisation marker manager for visualisations that are intended for when playing behaviour bags |
| WalkAndKick | The main walk and kick behaviour class |
| BallDetector | For detecting at least 50% white ball |
| ballParamC | Parameters container class for ball detection |
| BoundaryLineInterpolation | A class for interpolating between boundaries |
| calibC | Parameters container class for camera calibration |
| Camera | This class is responsible for image acquisition process
As an output this class provides the raw image in /vision/takenImg topic |
| cameraC | Parameters container class for camera |
| CameraCalibratorC | Parameters container class for camera calibration |
| CameraDummy | This class is responsible for imitating image acquisition process as a dummy replacement for Camera Class
As an input this class listen the raw image in /vision/takenImg topic |
| CameraProjections | For pixel projections |
| circleC | Parameters container class for circle detection |
| CircleDetector | For detecting center circle |
| ContourTester | A container class for testing countours |
| debugC | Parameters container class for debuging purposes |
| DistanceSizeS | A container class for distance-size calibration |
| DistortionModel | For undistortion |
| FieldDetector | For detecting field boundary |
| fieldParamC | Parameters container class for field detection |
| GoalDetector | For detecting potential goal posts |
| goalParamC | Parameters container class for goal detection |
| guiC | Parameters container class for gui |
| GuiManager | A container class for managing gui events |
| GuiRetS | A container class for gui rectangles |
| HillOptimizer | A class for hill climbing optimization |
| HSVPresenter | A class for showing HSV color range |
| hsvRangeC | HSV range class |
| igusParamC | Parameters container class for igus color |
| IPM | For Inverse Perspective Mapping |
| KalmanFilterC | A class for Kalman filter |
| LinearBoundaryChecker | A class for check if a point is between two given line segments |
| LinearInterpolator | A class for linearInterpolation |
| LineDetector | For detecting field lines |
| lineParamC | Parameters container class for line detection |
| LineSegment | A class representing line segments |
| LineSegmentTester | A class for visualize and test linesegments |
| Localization | For localization in the soccer field |
| localizationC | Parameters container class for localization |
| MatPublisher | A class for publish mat objects |
| ObstacleDetector | For detecting other robots with black feet |
| obstacleParamC | Parameters container class for obstacle detection |
| ParametersC | Parameters container class |
| SimplexOptimizer | Nelder–Mead optimization |
| sorter | For sorting operations on custom objects |
| tfC | Parameters container class for tf calibration |
| topViewC | Parameters container class for top view |
| Vision | This class is for managing all the required actions to find interesting objects in soccer field |
| VisionRate | For fixing the loop rate |
| VisionTimer | To set a timer and checked if the timeout exceeded |
1.8.6 
