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

C_AutoPath_SDK_ConfigurationSpace
C_COLL_DEVICE
C_COLL_DEVICE_TUPEL
C_COLL_PAIR
C_COLL_PROBE
C_ROB_DH
CER_CAPI	Method class containing all other ER_CAPI_* classes
CER_CAPI_CAD	Method class for for 3D CAD Data import and -export, changing attributes and positions
CER_CAPI_CAD_CONVERT	Method class for converting external neutral and native CAD formats (STEP, IGES, JT-Open, CATIA, Pro/E, and so on) into the internal IGP Part File Format
CER_CAPI_CAD_CREATE	Method class for creating primitive geometries such as cubes, cylinder, spheres, etc
CER_CAPI_CAD_IMPORT	Method class for importing existing 3D geometries (IGP, STL, 3DS)
CER_CAPI_CAD_IO	Method class for access to geometry parameter: Location, polygons, vertices, attributes, etc
CER_CAPI_DEVICES	Method class to create, attach, update devices, for kinematics calculations and for trajectory planning and -execution
CER_CAPI_MOP	Method class for trajectory planning and -execution and for motion planning AUTOPATH
CER_CAPI_MOP_AUTOPATH	Method class for collision free path planning
CER_CAPI_MOP_AUTOPATH_SDK	Method for collision free path planning
CER_CAPI_MOP_DATA	Method class for start-, target data, motion time, etc
CER_CAPI_MOP_EXEC	Method class for trajectory execution
CER_CAPI_MOP_PATH	Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc
CER_CAPI_MOP_PREP	Method class for trajectory planning (preparation)
CER_CAPI_ROB	Method class kinematics and transformations
CER_CAPI_ROB_ATRIBUTES
CER_CAPI_ROB_ATTRIBUTES	Method class for robot/device attributes, travel ranges, home position, device name, ..
CER_CAPI_ROB_DYN	Method class for dynamics, controller parameter, sampling rates
CER_CAPI_ROB_KIN	Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system
CER_CAPI_SIM	Method class for simulation settings
CER_CAPI_SIM_CAMERA	Method class for camera settings
CER_CAPI_SIM_COLLISION	Method class for collision, tolerances, etc
CER_CAPI_SIM_ERPL	Method class for executing ERPL- and ERCL commands
CER_CAPI_SIM_MONITORING	Method class for monitoring of travel ranges, speeds, etc
CER_CAPI_SIM_TRACK	Method class for TCP trace, reference and visualization
CER_CAPI_SYS	Method class for mathematical calculations, simulation status, units
CER_CAPI_SYS_APIDLL	Method class to access API Dll for inverse kinematics, robot trajectory planner and robot dynamics The Options API-INV, API-IPO and API-DYN allow the user to develop user defined dlls for inverse kinematics, robot trajectory planner and robot dynamics. Standard naming convention
CER_CAPI_SYS_MATHEMATICS	Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc
CER_CAPI_SYS_PREVIEW	Method class for the CAD-Preview
CER_CAPI_SYS_STATUS	Method class for unloading objects (work cells, robots, tools, programs, etc.) simulation status
CER_CAPI_SYS_UNITS	Method class for setting and calculating units
CER_CAPI_SYS_USERDLL	Method class to access API UserDll Option API UserDll allows the user to develop user defined dlls. Each UserDll must be defined in the configuration file `config.dat` , see also inq_UserDll_number() and is loaded dynamically when EASY-ROB™ starts. The UserDll must export the following `three` functions (OpenDialog(), ProglineUpdate(), AuxUpdate()), to allow EASY-ROB™ to communicate with the UserDll.
CER_CAPI_SYS_UTILITIES	Method class for helping functions, color conversion, etc
CER_CAPI_SYS_VIEW	Method class for graphical update of the 3D scene, refreshing dialogs, etc
CER_CAPI_TARGETS	Method class for paths and tags
CER_CAPI_TARGETS_PATH	Method class for creating, deleting and manipulating paths
CER_CAPI_TARGETS_TAG	Method class for manipulation of tags and access tag attributes
CER_CAPI_USER_IO	Method class for interaction with EASY-ROB
CER_CAPI_USER_IO_3DPDF	Method class for 3D Pdf Export
CER_CAPI_USER_IO_CRUISE	Method class to manipulate the 3D Scene
CER_CAPI_USER_IO_DIALOG	Method class, supplies dialogs, i.e. to enter and show values
CER_CAPI_USER_IO_FILE	Method class to load and save work cells-, robots-, tool-files, etc
CER_CAPI_USER_IO_PICK	Method class to "pick" objects such as devices, tags, polygon, vertices, measure distances, ..
CFRAME	Homogeneous 4x4 transformation matrix, a Frame with 3x3 orthogonal noa-matrix (n = o x a) and 3x1 position vector. The last row is per default [0 0 0 1]
CROB_DH	Denavit Hartenberg Parameter T = Rot(z,theta)Trans(z,d)Trans(x,a)*Rot(x,alfa)
Ctframe