Here are the classes, structs, unions and interfaces with brief descriptions:
  DeviceData | Holds data/device information retrieved from HDAPI(OpenHaptics3) |
| HapticsData | Holds haptics related data and variables |
| humanoid | Class to implement humanoid related functions |
| ParameterSet | A set of application/funcionality related parameters |
| RobotKinData | Structure to hold current robot joint/cartesian space information |
| shared_vars_t | Shared struture that holds robot/device information |
 WidgetCollection | Collection of interface widgets that are updated/changed on runtime or needed for some other matter |