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

[detail level 123]

▼Nflexiv
▼Nrdk
CRobotInfo	General information about the connected robot
CRobotStates	Data structure containing the joint- and Cartesian-space robot states
CPlanInfo	Data structure containing information of the on-going primitive/plan
CJPos	Data structure representing the customized data type "JPOS" in Flexiv Elements
CCoord	Data structure representing the customized data type "COORD" in Flexiv Elements
CDevice	Interface with the robot device(s)
CFileIO	Interface for file transfer with the robot. The robot must be put into IDLE mode when transferring files
CGripperParams	Data structure containing the gripper parameters
CGripperStates	Data structure containing the gripper states
CGripper	Interface with the robot gripper. Because gripper is also a type of device, this API uses the same underlying infrastructure as rdk::Device, but with functions tailored specifically for gripper controls
CMaintenance	Interface to carry out robot maintenance operations. The robot must be in IDLE mode when triggering any operations
CModel	Interface to access certain robot kinematics and dynamics data
CRobot	Main interface with the robot, containing several function categories and background services
CSafetyLimits	Data structure containing configurable robot safety limits
CSafety	Interface to change robot safety settings. The robot must be in IDLE mode when applying any changes. A password is required to authenticate this interface
CScheduler	Real-time scheduler that can simultaneously run multiple periodic tasks. Parameters for each task are configured independently
CToolParams	Data structure containing robot tool parameters
CTool	Interface to online update and interact with the robot tools. All updates will take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes
CWorkCoord	Interface to online update and interact with the robot's work coordinates. All updates will take effect immediately without a power cycle. However, the robot must be in IDLE mode when applying changes