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

[detail level 123]

rapid
db
NameDb
fetch
Fetch
Gripper
manipulation
ArmInterface
MoveItArm
MockArm
GripperInterface
Gripper
MockGripper
HeadInterface
Head
MockHead
TuckArmsInterface
Pr2TuckArms
MockTuckArms
perception
pr2
Box3DRoiServer
HSurface
ImageRecognizer
Object
PoseEstimator
PoseEstimationHeatMapper
PoseEstimationInterface
PoseEstimationMatch
RandomHeatMapper
Scene
SceneParseParams
HSurfaceParams
ObjectParams
ParseParams
ObjectViz
HSurfaceViz
SceneViz
pr2
Gripper	High-level interface for a PR2's gripper
Head	High-level interface for the PR2's head
JointStates
Pr2
Torso	High-level interface for the PR2's torso
sound
SoundInterface
SoundPlay
MockSound
utils
CommandInterface
ExitCommand
CommandLine
RandomNumberInterface	Interface for random number generators
RandomNumber	The cstdlib random number generator
MockRandomNumber	A mock random number generator for unit testing
viz
CloudPoser
LandmarkViz
Marker
SceneViz
MoveItPlanningScene	Simple interface to the MoveIt planning scene monitor
PointCloudCameraInterface	Interface for a camera that outputs point clouds
JointStateReader	Tracks the latest joint states
PointCloudCamera	Gets point cloud and camera pose
RecordedPointCloudCamera	A simulated camera that loads data from a bag file
RosoutTestHelper
Degrees	Type for angles measured in degrees
Radians	Type for angles measured in radians
DragBoxMarker	An interactive marker for a box with draggable sides
rapid_ros
ActionClientInterface
ActionClient
MockActionClient
PublisherInterface
Publisher
MessageHistory
MockPublisher
ServiceClientInterface
ServiceClient
MockServiceClient
TfListenerInterface
TfListener
MockTfListener