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

C_AutoPath_ConfigurationSpace
C_CURRENT_STEP_DATA
C_ER_EXTAX_KIN_DATA
C_NEXT_STEP_DATA
C_NEXT_TARGET_DATA
C_NEXT_TARGET_DATA_ADVANCE
CCURRENT_STEP_DATA	Contains additional desired data for current interpolation step Usage with erGetCurrentStepData() after successfully calling of erGET_NEXT_STEP()
CDFRAME	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]
CER_CollideResult	Collision results for query ER_COLL_QUERY_TYPE_COLLIDE, see erColl_GetResults_Collide()
CER_CollisionPair	A pair of two colliding triangles, see erColl_GetResults_Collide()
CER_DistanceResult	Collision results for query ER_COLL_QUERY_TYPE_DISTANCE, see erColl_GetResults_Distance() The following distance and points established the minimum distance for the models, within the relative and absolute error bounds specified
CER_EXTAX_KIN_DATA	External axis target data for connected devices belongs to structure NEXT_TARGET_DATA
CER_ToleranceResult	Collision results for query ER_COLL_QUERY_TYPE_TOLERANCE, see erColl_GetResults_Tolerance()
CERK_CAPI	Method class containing all other ERK_CAPI_* classes
CERK_CAPI_ADMIN	Method class to administrate this Robotics Simulation Kernel
CERK_CAPI_AUTOPATH	Method for collision free path planning
CERK_CAPI_CALLBACKS	Method class for Callback functions
CERK_CAPI_DEVICES	Method class to create, attach, update devices, for kinematics calculations and for motion planning and -execution
CERK_CAPI_GEO	Method class to handle 3D Geometry Data
CERK_CAPI_GEO_MNGR	Method class to access geometry manager 'GeoMngr' methods
CERK_CAPI_MOP	Method class for motion planning and -execution
CERK_CAPI_MOP_DATA	Method class for start-, target data, motion time, etc
CERK_CAPI_MOP_EXEC	Method class for motion execution
CERK_CAPI_MOP_PATH	Method class for path specifications, motion type (PTP, LIN, CIRC), speeds, acceleration, waiting time, etc
CERK_CAPI_MOP_PREP	Method class for motion planning (preparation)
CERK_CAPI_ROB	Method class kinematics and transformations
CERK_CAPI_ROB_ATRIBUTES
CERK_CAPI_ROB_ATTRIBUTES	Method class for robot/device attributes, travel ranges, home position, device name, ..
CERK_CAPI_ROB_KIN	Method class forward-, Inverse kinematics, desired robot joints, tools, position w.r.t. world and reference system
CERK_CAPI_ROB_KIN_API	Method class API for forward- and Inverse kinematics
CERK_CAPI_SIM	Method class for simulation settings
CERK_CAPI_SIM_COLLISION	Method class for collision, tolerances, etc
CERK_CAPI_SYS	Method class for mathematical calculations, simulation status, units
CERK_CAPI_SYS_MATHEMATICS	Method class for mathematical calculations, multiplications of homogeneous matrices, conversion Euler angle, triangle calculations, formula parser, etc
CERK_CAPI_SYS_UTILITIES	Method class for helping functions, color conversion, etc
CERK_CAPI_TARGETS	Method class for paths and tags
CERK_CAPI_TOOLPATH	Method class for tool path definition
CERK_CAPI_TOOLPATH_APIPP	Method for post processing, creating a robot program for a tool path
CERK_CAPI_TOOLPATH_ATTRIBUTES	Method class to set and get tool path motion attributes for target locations
CERK_CAPI_TOOLPATH_ATTRIBUTES_AUX	Method class to set and get tool path auxiliary motion attributes for target locations
CERK_CAPI_TOOLPATH_CREATE	Method class for motion execution
CERK_CAPI_TOOLPATH_EVENTS	Method class to set and get tool path events for target locations
CERK_CAPI_TOOLPATH_EXTAX_CONVEYOR	Brief Method class to specify external axis data for a conveyor for target location
CERK_CAPI_TOOLPATH_EXTAX_POSITIONER	Brief Method class to specify external axis data for a positioner for target location
CERK_CAPI_TOOLPATH_EXTAX_TRACKMOTION	Brief Method class to specify external axis data for a track/slider-motion for target location
CERK_CAPI_TOOLPATH_HEAD	Method class to set and get tool path motion header data for target locations
CERK_CAPI_TOOLPATH_INSTRUCTIONS	Method class to set and get Instructions for target locations
CERK_CAPI_TOOLPATH_MOTION_EXEC	Brief Method class to access motion execution data at target
CERK_CAPI_TOOLPATH_MOVE_CP	Brief Method class to specify a cp motion for target location
CERK_CAPI_TOOLPATH_MOVE_JOINT	Brief Method class to specify a joint motion for target location
CERK_CAPI_TOOLPATH_TARGETS	Method class to create, unload and specify target locations
CERK_CAPI_TOOLPATH_TOOLBOX	Method class for miscellaneous tool path calculations
CINITIAL_POSITION_DATA	Sets the robot model to a position according to the input data. Usage with erSET_INITIAL_POSITION()
CLOAD_GEOMETRY_DATA	Geometry data structure for callback function. Used when loading and updating robot geometries With callback function TerLoadGeometryProc() and TerUpdateGeometryProc()
CNEXT_STEP_DATA	Contains desired data for next interpolation step Usage with erGET_NEXT_STEP()
CNEXT_TARGET_DATA	Contains target data for next move This structure contains all required data for the next target Usage with erSET_NEXT_TARGET()
CNEXT_TARGET_DATA_ADVANCE	Contains target data for about next move "advance move" This structure contains all required data for the about next target "advance target" Usage with erSET_NEXT_TARGET()
CTErGrpSyncData	Group synchronization data structure Used with callback function TerGrpSyncProc()
CTErNotifyData	Notify data structure Used with callback function TerNotifyProc()