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

CARM_GET	Arm extended feedback structure
CARM_IN	Arm input command structure
CARM_OUT	Arm feedback output structure
CARM_RT	Real-time data structure for a single arm
CARM_SET	Arm configuration and control parameters
CARM_SG	Slow-group configuration and feedback structure for an arm
CBODY_GET
CBODY_IN
CBODY_OUT
CBODY_RT
CBODY_SET
CBODY_SG
CDDSS	Terminal communication packet structure
CHAND_GET
CHAND_IN
CHAND_OUT
CHAND_RT
CHAND_SET
CHAND_SG
CHEAD_GET
CHEAD_IN
CHEAD_OUT
CHEAD_RT
CHEAD_SET
CHEAD_SG
CLIFT_GET
CLIFT_IN
CLIFT_OUT
CLIFT_RT
CLIFT_SET
CLIFT_SG
COP_SET	Operation instruction set structure
CROBOT_RT	Real-time robot data structure (1000 Hz)
CROBOT_SG	Slow-group robot data structure (500 Hz)
CStateCtr	Generic state control structure