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

Ncrust	The namespace of the entire Crust package, which contains direct abstractions for VEX hardware
CDevice	Base class for devices connected to physical Smart Ports
CRotation	Class implementing the V5 Rotation Sensor
Nunits
CQuantity
CTemperature
C_V5_DeviceArmTipPosition
C_V5_DeviceOpticalGesture
C_V5_DeviceOpticalRaw
C_V5_DeviceOpticalRgb
C_V5_DevicePneumaticCtrl
C_V5_TouchStatus
CBangBang	Feedback child class to create pulse-width-modulation loops
CCentripetalAccelerationConstraint	Trajectory constraint that limits maximum velocity to prevent excessive centripetal acceleration
CChassisAccelerations	Represents robot chassis accelerations
CChassisVelocities	Represents robot chassis velocities
CCubicHermiteSpline	Cubic Hermite spline segment defined by endpoint positions and tangents
Cdate
CDistanceEvent	Configuration parameters and constraint container for generating trajectories
CExponentialMovingAverage
CFeedback	Pure virtual class for generic feedback control loops
CFeedForward	Pure virtual class for generic feedforward control systems
CFFMotorState
CFilter
CHermitePoint	Represents a boundary point along a Hermite spline
CHermiteSpline	CRTP base class for Hermite splines of specific polynomial order
CKalmanFilter
CLinearMotorFF
CLinearPlantInversionFeedforward
CLinearQuadraticRegulator
CLinearSystem
CLinearVector2d
CMaxVelocityConstraint	Trajectory constraint that enforces a strict upper limit on velocity
CMovingAverage
CPID
CPoint2d	Class representing a lattice point
CPose2d
CPoseWithCurvature	Pair representing 2D Pose and scalar path units::Curvature
CQuinticHermiteSpline	Quintic Hermite spline segment defined by endpoint positions, tangents, and second derivatives
CRectangularRegionConstraint	Enforces a TrajectoryConstraint only when the robot's translation falls within a specified 2D rectangular bounding box
CRotation2d
CScaledSphericalSimplexSigmaPoints
CSplineBase	Abstract base class for parametric 2D Hermite splines
CSplinePath	Manages multi-segment Hermite spline paths
CSplineSample	Evaluated state sample at a specific parameter u or distance s along a spline
CTankKinematics	Helper class that converts a chassis velocity (vx and omega) to left and right wheel velocities for a tank drive
CTankKinematicsConstraint	Trajectory constraint that limits velocity and acceleration based on tank drive kinematics and maximum wheel constraints
CTankVoltageConstraint	Trajectory constraint that limits acceleration based on available battery voltage and motor capabilities
CTankWheelAccelerations	Represents the left and right accelerations of a tank drive
CTankWheelVelocities	Represents the left and right velocities of a tank drive
Ctime
CTrajectory	Represents a time-parameterized 2D motion trajectory
CState	Represents a single discrete state sample along a trajectory
CTrajectoryConfig
CTrajectoryConfigBuilder	Fluent Builder API for constructing TrajectoryConfig instances cleanly
CTrajectoryConstraint	Interface for defining physical trajectory velocity and acceleration constraints
CMinMax	Struct representing minimum and maximum allowed linear accelerations
CTrajectoryEvent	Represents an action event triggered at a specific time along a trajectory
CTrajectoryGenerator	Helper utility class for generating time-parameterized constrained trajectories from waypoints
CTrajectoryParameterizer	Algorithms for time-parameterizing spatial path points into constrained trajectories
CTrajectorySampler	High-efficiency streaming sampler for real-time control loops
CTransform2d
CTwist2d
CUnscentedKalmanFilter