Here is a list of all modules:
| Standard | Commonly used classes/routines |
| Kinematics | Classes to define robot kinematics |
| MotionPlanning | Classes to assist in motion planning |
| Statistics | Various statistical algorithms |
| GLDraw | OpenGL, GLUT, and GLUI drawing routines |
| Graph | Template classes for general graph computations |
| Math | Definitions of mathematical concepts and numerical algorithms |
| Math3D | Definitions of 3D math classes and functions |
| Meshing | Classes defining operations on basic triangle meshes |
| Optimization | Optimization routines – linear programming, quadratic programming, least squares, nonlinear programming, complimentarity problems |
| Geometry | |
| Utils | |
