Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
  KNI | |
   Timer | Provides a stop-watch-like class with a resolution of milliseconds |
| kmlFactory | This class is for internal use only It may change at any time It shields the configuration file parsing |
| NoSolutionException | No solution found for the given cartesian coordinates |
| KinematicParameters | To pass different parameters for the kinematic implementations |
| KatanaKinematics | The base class for all kinematic implementations |
| KatanaKinematics5M180 | |
| angles_calc | |
 position | |
| KatanaKinematics6M180 | |
| angles_calc | |
| position | |
| KatanaKinematics6M90G | |
| angles_calc | |
| position | |
| KatanaKinematics6M90T | |
| angles_calc | |
| position | |
| KinematicsDefaultEncMinAlgorithm | |
| KNI_MHF | |
| unary_precalc_sin | Function-object which calculates sinus for n-elements of a container if used together with a STL algorithm |
| unary_precalc_cos | |
| unary_rad2deg | Function-object version of rad2deg |
| unary_deg2rad | Function-object version of rad2deg |
| std | STL namespace |
| CannotGetSetPortAttributesException | Could not set or get the attributes for the given serial communication device |
| CannotOpenPortException | Failed to open the serial communication device |
| CCdlBase | Abstract base class for devices |
| CCdlCOM | Encapsulates the serial port device |
| CCdlSocket | Encapsulates the socket communication device |
| CCplBase | Abstract base class for protocol definiton |
| CCplSerial | Base class of two different serial protocols |
| CCplSerialCRC | Implement the Serial-Zero protocol |
| CikBase | |
| CKatana | Extended Katana class with additional functions |
| CKatBase | Base Katana class |
| CLMBase | Linear movement Class |
| CMotBase | Motor class |
| ConfigFileEntryNotFoundException | The requested entry could not be found |
| ConfigFileOpenException | Accessing the given configuration file failed (may be: access denied or wrong path) |
| ConfigFileSectionNotFoundException | The requested section could not be found |
| ConfigFileStateException | The state of the configuration file wasn't "good" |
| ConfigFileSubsectionNotFoundException | The requested subsection could not be found |
| ConfigFileSyntaxErrorException | There was a syntax error in the configuration file |
| Context | |
| CSctBase | Sensor Controller class |
| DeviceReadException | Reading from the serial communication device failed |
| DeviceWriteException | Writing to the serial communication device failed |
| ErrorException | The Katana returned an error string |
| Exception | |
| FirmwareException | Exception reported by the firmware |
| JointSpeedException | Joint speed too high |
| MotorCrashException | The requested motor crashed during the movement |
| MotorOutOfRangeException | The encoders for the given motor were out of range |
| MotorTimeoutException | The timeout elapsed for the given motor and target position |
| ParameterReadingException | There was an error while reading a parameter from the robot |
| ParameterWritingException | The data you wanted to send to the robot was invalid |
| PortNotOpenException | The port was not open |
| ReadNotCompleteException | The Katana didn't answer correctly within the given timeout |
| ReadWriteNotCompleteException | This exception is the base for the WriteNotComplete and ReadNotCompleteException |
| SlaveErrorException | Slave error occurred |
| TBlendtrace | |
| TBLENDtrajectory | [LMBLEND] Trajectory points |
| TCdlCOMDesc | This structrue stores the attributes for a serial port device |
| THeader | Header of a communication packet |
| TKatCBX | [CBX] connector box |
| TKatCTB | [CTB] command table defined in the firmware |
| TKatECH | [ECH] echo |
| TKatEFF | Inverse Kinematics structure of the endeffektor |
| TKatGNL | [GNL] general robot attributes |
| TKatIDS | [IDS] identification string |
| TKatMFW | [MFW] master firmware version/revision number |
| TKatMOT | [MOT] every motor's attributes |
| TKatSCT | [SCT] every sens ctrl's attributes |
| TLM_points | [LM] linear movement: points to be interpolated |
| TLMtrajectory | [LM] linear movement: parameters |
| TMLMIP | [LM] Store intermediate targets for multiple linear movements |
| TMotAPS | [APS] actual position |
| TMotCLB | Calibration structure for single motors |
| TMotDesc | Motor description (partly) |
| TMotDYL | [DYL] dynamic limits |
| TMotENL | [ENL] limits in encoder values (INTERNAL STRUCTURE!) |
| TMotGNL | [GNL] motor generals |
| TMotInit | Initial motor parameters |
| TMotPVP | [PVP] position, velocity, pulse width modulation |
| TMotSCP | [SCP] static controller parameters |
| TMotSFW | [SFW] slave firmware |
| TMotTPS | [TPS] target position |
| TPacket | Communication packet |
| TPoint3D | |
| TPoint6D | [LMBLEND] Standard coordinates for a point in space |
| TSctDAT | [DAT] sensor data |
| TSctDesc | Sensor controller description (partly) |
| TSctGNL | [GNL] controller generals |
| TSplinepoint | |
| WaitParameterException | Wait parameter set to false |
| WriteNotCompleteException | Not all bytes could be written to the serial communication device |
| WrongCRCException | CRC check for the answer package failed |
| WrongParameterException | The given parameter was wrong |
