| Csdf::Color | Defines a color |
| Csdf::Console | Message, error, warning, and logging functionality |
| Csdf::Console::ConsoleStream | An ostream-like class that we'll use for logging |
| Csdf::Converter | Convert from one version of SDF to another |
| ▼Cenable_shared_from_this | |
| Csdf::Element | SDF Element class |
| ▼Csdf::Exception | Class for generating exceptions |
| ▼Csdf::InternalError | Class for generating Internal Gazebo Errors: those errors which should never happend and represent programming bugs |
| Csdf::AssertionInternalError | Class for generating Exceptions which come from sdf assertions |
| Csdf::Inertia | A class for inertial information about a link |
| Csdf::Param | A parameter class |
| Csdf::Pose | Encapsulates a position and rotation in three space |
| Csdf::Quaternion | A quaternion class |
| Csdf::SDF | Base SDF class |
| Csdf::SDFExtension | A class for holding sdf extension elements in urdf |
| Csdf::Time | A Time class, can be used to hold wall- or sim-time |
| Csdf::URDF2SDF | URDF to SDF converter |
| Csdf::Vector2d | Generic double x, y vector |
| Csdf::Vector2i | Generic integer x, y vector |
| Csdf::Vector3 | Generic vector containing 3 elements |