Here are the classes, structs, unions and interfaces with brief descriptions:

NKDL
CArticulatedBodyInertia	6D Inertia of a articulated body
CChain
CChainDynParam	Implementation of a method to calculate the matrices H (inertia),C(coriolis) and G(gravitation) for the calculation torques out of the pose and derivatives
CChainExternalWrenchEstimator	First-order momentum observer for the estimation of external wrenches applied on the robot's end-effector
CChainFdSolver	This abstract class encapsulates the inverse dynamics solver for a KDL::Chain
CChainFdSolver_RNE	Recursive newton euler forward dynamics solver
CChainFkSolverAcc	This abstract class encapsulates a solver for the forward acceleration kinematics for a KDL::Chain
CChainFkSolverPos	This abstract class encapsulates a solver for the forward position kinematics for a KDL::Chain
CChainFkSolverPos_recursive	Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain)
CChainFkSolverVel	This abstract class encapsulates a solver for the forward velocity kinematics for a KDL::Chain
CChainFkSolverVel_recursive	Implementation of a recursive forward position and velocity kinematics algorithm to calculate the position and velocity transformation from joint space to Cartesian space of a general kinematic chain (KDL::Chain)
CChainHdSolver_Vereshchagin	Abstract: Acceleration constrained hybrid dynamics calculations for a chain, based on Vereshchagin 1989
Csegment_info
CChainIdSolver	This abstract class encapsulates the inverse dynamics solver for a KDL::Chain
CChainIdSolver_RNE	Recursive newton euler inverse dynamics solver
CChainIdSolver_Vereshchagin
CChainIkSolverAcc
CChainIkSolverPos
CChainIkSolverPos_LMA	Solver for the inverse position kinematics that uses Levenberg-Marquardt
CChainIkSolverPos_NR	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain
CChainIkSolverPos_NR_JL	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Chain
CChainIkSolverVel
CChainIkSolverVel_pinv	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
CChainIkSolverVel_pinv_givens	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
CChainIkSolverVel_pinv_nso	Implementation of a inverse velocity kinematics algorithm based on the generalize pseudo inverse to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
CChainIkSolverVel_wdls	Implementation of a inverse velocity kinematics algorithm based on the weighted pseudo inverse with damped least-square to calculate the velocity transformation from Cartesian to joint space of a general KDL::Chain
CChainJntToJacDotSolver	Computes the Jacobian time derivative (Jdot) by calculating the partial derivatives regarding to a joint angle, in the Hybrid, Body-fixed or Inertial representation
CChainJntToJacSolver	Class to calculate the jacobian of a general KDL::Chain, it is used by other solvers
CFrame
CFrame2	A 2D frame class, for further documentation see the Frames class for methods with unchanged semantics
CFrameAcc
CFrameVel
CJacobian
CJntArray
CJntArrayAcc
CJntArrayVel
CJoint
Cjoint_type_exception
CPath	The specification of the path of a trajectory
CPath_Circle	A circular Path with 'open ends'
CPath_Composite	A Path being the composition of other Path objects
CPath_Cyclic_Closed	A Path representing a closed circular movement, which is traversed a number of times
CPath_Line	A path representing a line from A to B
CPath_Point	A Path consisting only of a point in space
CPath_RoundedComposite	The specification of a path, composed of way-points with rounded corners
CRigidBodyInertia	6D Inertia of a rigid body
CRotation	Rotations in 3 dimensional space
CRotation2	A 2D Rotation class, for conventions see Rotation. For further documentation of the methods see Rotation class
CRotationAcc
CRotationalInertia
CRotationalInterpolation	RotationalInterpolation specifies the rotational part of a geometric trajectory
CRotationalInterpolation_SingleAxis	An interpolation algorithm which rotates a frame over the existing single rotation axis formed by start and end rotation
CRotationVel
CSegment
CSolverI	Solver interface supporting storage and description of the latest error
CStiffness	Preliminary class to implement Stiffness, only diagonal stiffness is implemented no transformations provided..
CTrajectory	An abstract class that implements a trajectory contains a cartesian space trajectory and an underlying velocity profile
CTrajectory_Composite	Trajectory_Composite implements a trajectory that is composed of underlying trajectoria
CTrajectory_Segment	Trajectory_Segment combines a VelocityProfile and a Path into a trajectory
CTrajectory_Stationary	Implements a "trajectory" of a stationary position for an amount of time
CTree	This class encapsulates a tree kinematic interconnection structure
CTreeElement
CTreeFkSolverPos
CTreeFkSolverPos_recursive	Implementation of a recursive forward position kinematics algorithm to calculate the position transformation from joint space to Cartesian space of a general kinematic tree (KDL::Tree)
CTreeIdSolver	This abstract class encapsulates the inverse dynamics solver for a KDL::Tree
CTreeIdSolver_RNE	Recursive newton euler inverse dynamics solver for kinematic trees
CTreeIkSolverPos	This abstract class encapsulates the inverse position solver for a KDL::Chain
CTreeIkSolverPos_NR_JL	Implementation of a general inverse position kinematics algorithm based on Newton-Raphson iterations to calculate the position transformation from Cartesian to joint space of a general KDL::Tree
CTreeIkSolverPos_Online	Implementation of a general inverse position kinematics algorithm to calculate the position transformation from Cartesian to joint space of a general KDL::Tree
CTreeIkSolverVel	This abstract class encapsulates the inverse velocity solver for a KDL::Tree
CTreeIkSolverVel_wdls
CTreeJntToJacSolver
CTwist	Both translational and rotational velocities
CTwistAcc
CTwistVel
CVector	A concrete implementation of a 3 dimensional vector class
CVector2	2D version of Vector
CVectorAcc
CVectorVel
CVelocityProfile	A VelocityProfile stores the velocity profile that is used within a trajectory
CVelocityProfile_Dirac	A Dirac VelocityProfile generates an infinite velocity so that the position jumps from A to B in in infinite short time
CVelocityProfile_Rectangular	A rectangular VelocityProfile generates a constant velocity for moving from A to B
CVelocityProfile_Spline	A spline VelocityProfile trajectory interpolation
CVelocityProfile_Trap	A Trapezoidal VelocityProfile implementation
CVelocityProfile_TrapHalf	A 'Half' Trapezoidal VelocityProfile
CWrench	Both translational and rotational acceleration
Nstd	STL namespace
Chash< KDL::doubleAcc >
Chash< KDL::doubleVel >
Chash< KDL::Frame >
Chash< KDL::Frame2 >
Chash< KDL::FrameAcc >
Chash< KDL::FrameVel >
Chash< KDL::Rotation >
Chash< KDL::Rotation2 >
Chash< KDL::RotationAcc >
Chash< KDL::RotationVel >
Chash< KDL::Twist >
Chash< KDL::TwistAcc >
Chash< KDL::TwistVel >
Chash< KDL::Vector >
Chash< KDL::Vector2 >
Chash< KDL::VectorAcc >
Chash< KDL::VectorVel >
Chash< KDL::Wrench >
CTraits< KDL::doubleVel >