Annelida is a phylum of segmented worms that includes earthworms, leeches, and polychaetes. They have elongated bodies divided into many similar segments. Key features include a coelom, metamerism, and parapodia used for locomotion and respiration. The three main classes are Polychaeta (bristle worms), Oligochaeta (earthworms and related species), and Hirudinea (leeches). Annelids display a variety of forms and habitats but are generally successful due to their tube-within-a-tube body design allowing for organ and fluid compartmentalization.