Here are the data structures with brief descriptions:
| CHighPassFilterContext | High Pass filter contex |
| CKalmanFilter | Kalman Filter class representing the kalman model and state updates. In practice, upto only 3 dimentional state vector is usable before hitting hardware limitation |
| CLowPassFilterContext | Low Pass filter contex |
| CMap | Map class to hold a collection of landmarks |
| CMatrix | The matrix class. Don't access the members directly. Use the macros MIJ() or MI() or the methods provided instead |
| COdometer2 | Odometer class for 2 wheels drive robot base that desribes wheel anatomy and positional integration |
| CPIDControl | PID controller class |
| CSamplerContext | The class to hold sampler context |
| CSonar | Sonar class that represents an ultrasonic sensor mounted on a robot |
| CVector | A vector that represents a 2D point by x-y coordinates and a direction angle |
| CVehicle | Vehicle class representing a 2 wheels drive vehicle |