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As taken from the accepted answer from When should you use a class vs a struct in C++?

The only difference between a class and a struct in C++ is that structs have default public members and bases and classes have default private members and bases. Both classes and structs can have a mixture of public and private members, can use inheritance, and can have member functions.

I would recommend using structs as plain-old-data structures without any class-like features, and using classes as aggregate data structures with private data and member functions.

Memory wise the access modifier makes no difference and given the memory constraints of the Arduino, people are less likely to use classes with complex hierarchies, but prefer the POD structs anyway.