The RMP Motion Controller APIs
Here are the classes, structs, unions and interfaces with brief descriptions:
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 NCartesianThe Cartesian namespace
 CKinematicModelDescribes the mathematical kinematic model of a robot
 CQuaternionQuaternion for representing rotations
 CRobotFor Path, G-Code and RapidRobot motion for any actuator. Use RobotCreate() to make one. Your kinematic model must be supported by RapidCode
 CVector3dVector3d is used for three-dimensional points and vectors
 CAxisThe Axis object manages a single physical axis on a motion controller
 CIOThe IO object provides an interface to the inputs and outputs of a network node
 CIOPointThe IOPoint object represents one specific point class such as: Digital Output, Digital Input, Analog Output, or Analog Input.
 CMotionControllerThe MotionController object represents the RMP INtime soft motion controller
 CMultiAxis The MultiAxis object allows you to map two or more axes together and command synchronized motion.
 CNetworkNodeThe NetworkNode object represents an EtherCAT Node (Drive, IO Block, etc) on the network. Accessible via Axis and IO objects
 CRapidCodeInterruptInterface for objects which can use interrupts
 CRapidCodeMotionThe RapidCodeMotion interface is implemented by Axis and MultiAxis
 CRapidCodeObjectThe RapidCode base class. All non-error objects are derived from this class
 CRapidCodeOSThe RapidCodeOS object provides access to operating system (Windows) features. Accessible via MotionController
 CRsiErrorThe RsiError object contains information about any RapidCode API object's error/exception
 CRTOSThe RTOS object represents the real-time operating system (INtime)
 CServerInfoAn object containing the IP Address, the port, and the Id of a RapidServer instance
 CServerInfoCollectionA container for ServerInfo objects
 CEngineStatusStructure for describing the status of the RapidSequencer proccess. Describes whether the process is running, what platform the sequencer is running on, and the number of tasks it has
 CRapidSequencerAn object for interacting with a RapidSequencer process
 CRapidSequencerFactoryThe RapidSequencerFactory provides static methods for creating RapidSequencer processes or discovering existing processes.
 CSequencerGlobalStructure for describing a global tag. Contains information about the type, name, and value of the tag. Also describes if the tag is instantiated, it's memory address, and its size
 CTaskStatusStructure for describing the status of a task. Describes what state the task is in, the currently executing line number, and the internal counter of the task
 CHelperFunctionsHelper Functions for checking logged creation errors, starting the network, etc