For a unitary, symplectic, or special orthogonal group over a non-archimedean local field of odd residual characteristic, we prove that two intertwining cuspidal types are conjugate in the group. This completes work of the third author who showed that every irreducible cuspidal representation of such a classical group is compactly induced from a cuspidal type, now giving a classification of irreducible cuspidal representations of classical groups in terms of cuspidal types. Our approach is to completely understand the intertwining of the socalled self dual semisimple characters, which form the fundamental step in the construction. To this aim, we generalise Bushnell-Henniart's theory of endo-class for simple characters of general linear groups to a theory for self dual semisimple characters of classical groups, and introduce (self dual) endo-parameters which parametrise intertwining classes of (self dual) semisimple characters.Mathematics Subject Classification 2010: Primary 22E50 (Representations of Lie and linear algebraic groups over local fields); Secondary 11F70 (Representation-theoretic methods; automorphic representations over local and global fields)