Most full range driver loudspeakers are meant to be driven by an amplifier with a fairly high output impedance. Running it with an amplifier with a low output impedance (and all class D amps have a low output impedance) will result in a tonal anomaly of some sort- my guess is less bass in this case. For more on this topic see
http://www.atma-sphere.com/Resources/Paradigms_in_Amplifier_Design.php
http://www.atma-sphere.com/Resources/Paradigms_in_Amplifier_Design.php