| Type | Location | Extends | Description |
|---|---|---|---|
| beam_element_2d | dynamics_structural | line_element | Defines a two-dimensional Bernoulli-Euler beam element. |
| beam_element_3d | dynamics_structural | line_element | Defines a three-dimensional Bernoulli-Euler beam element. |
| binary_link | dynamics_linkage | rigid_body | Defines a link consisting of only two joints. The coordinate system of this link is situated at the distal joint with it's z-axis coincident with the axis of the joint. The link utilizes a Denavit-Hartenberg convention in order to express its geometry. |
| coordinate_system | dynamics_kinematics | None | Defines a 3D Cartesian coordinate system. |
| dh_parameter_set | dynamics_kinematics | None | Describes a set of Denavit-Hartenberg parameters for a single joint. |
| dh_table | dynamics_kinematics | None | Describes a Denavit-Hartenberg table. |
| dynamic_system_measurement | dynamics_system_id | None | A container of a single measurement data set. |
| element | dynamics_structural | None | Defines an element. |
| frf | dynamics_frequency_response | None | A container for a frequency response function, or series of frequency response functions. |
| line | dynamics_geometry | None | Defines the parametric form of a line . |
| line_element | dynamics_structural | element | Defines a line element type. |
| material | dynamics_structural | None | Defines a linear-elastic-isotropic material. |
| mimo_frf | dynamics_frequency_response | None | A container for the frequency responses of a system of multiple inputs and multiple outputs (MIMO). |
| model_information | dynamics_system_id | None | A container for model information. |
| node | dynamics_structural | point | Defines a node. |
| plane | dynamics_geometry | None | Defines a plane as . |
| plucker_line | dynamics_geometry | None | Defines a line in 3D Euclidean space using Plücker coordinates. |
| point | dynamics_structural | None | Defines a point in 3D, Cartesian space. |
| quaternion | dynamics_quaternions | None | Defines a quaternion of the form: |
| rigid_body | dynamics_rigid_bodies | None | Defines a rigid body. |
| serial_linkage | dynamics_linkage | None | Defines a serial linkage. |
| state_space | dynamics_controls | None | Defines a state-space representation of a dynamic system. This implementation takes the form: |
| transfer_function | dynamics_controls | None | Defines a transfer function for a continuous system of the form . |