Data Structures

Here are the data structures with brief descriptions:

[detail level 1234]

►NLibXR	LibXR 命名空间
►NKinematic
CEndPoint	机器人末端点（EndPoint）类，继承自 Object。 EndPoint class representing the end effector of a robotic system, inheriting from Object
►CJoint	关节（Joint）类，表示机器人连杆间的旋转关节。 Joint class representing a rotational joint between robot links
CParam	关节参数结构体。 Structure containing joint parameters
CRuntime	关节运行时状态结构体。 Structure containing runtime state of the joint
►CObject	机器人中的物体（Object）类。 Object class representing an entity in the robot
CParam	物体参数结构体，存储物体的惯性参数。 Structure storing inertia parameters of the object
CRuntime	物体运行时状态结构体，存储物体的变换信息。 Structure storing runtime transformation data of the object
CStartPoint	机器人起始点（StartPoint）类，继承自 Object。 StartPoint class representing the base or root of a robotic kinematic chain, inheriting from Object
►NUSB
►CCDCBase	USB CDC ACM (Abstract Control Model) 设备类实现 USB CDC ACM (Abstract Control Model) device class implementation
CCDCDescBlock	CDC描述符块结构 CDC descriptor block structure
CCDCLineCoding	CDC线路编码参数结构体 CDC line coding parameters structure
CSerialStateNotification	串行状态通知结构体 Serial state notification structure
CCDCReadTest	USB CDC ACM 读测试类 USB CDC ACM read test class
CCDCUart	USB CDC ACM UART 适配类 USB CDC ACM UART adaptation class
CCDCWriteTest	USB CDC ACM 写测试类 USB CDC ACM write test class
►CConfigDescriptor	USB 配置描述符生成器 USB configuration descriptor generator
CConfig
►CConfigDescriptorItem	USB 配置项接口类 USB configuration item base class
CEndpointDescriptor	端点描述符结构体 Endpoint descriptor structure (USB 2.0 Spec 9.6.6)
CHeader	配置描述符头部结构体 Configuration descriptor header (USB 2.0 Spec 9.6.3)
CIADDescriptor	接口关联描述符（IAD，Interface Association Descriptor） IAD descriptor structure (用于复合设备多接口归组 / used for grouping interfaces in composite devices)
CInterfaceDescriptor	接口描述符结构体 Interface descriptor structure (USB 2.0 Spec 9.6.5)
►CDescriptorStrings	字符串描述符管理器 / USB string descriptor manager
CLanguagePack	单语言描述符包（用于注册静态多语言字符串） Single language USB string descriptor pack for registration
►CDeviceClass	USB 设备类接口基类，所有自定义 USB 类（如 HID、CDC、MSC）都需派生自本类。 USB device class base interface, all custom device classes (HID, CDC, MSC, etc.) should derive from this
CRequestResult	控制请求结果结构体 / Structure for control transfer results
CDeviceCore	USB 设备协议栈核心类，负责端点 0 控制传输及配置、描述符、标准请求处理等。 USB device protocol stack core class. Handles EP0 control transfers, descriptors, configurations, and standard/class/vendor requests
►CDeviceDescriptor	USB描述符基类 USB descriptor base class
CData
►CEndpoint	USB端点基类 / USB Endpoint base class
CConfig	端点配置结构体 Endpoint configuration struct
CEndpointPool	USB端点池类 / USB endpoint pool class
►CHID	USB HID（Human Interface Device）基类，支持可选 OUT 端点、自动生成描述符，适合键盘、鼠标、手柄等扩展。 USB HID (Human Interface Device) base class with optional OUT endpoint and auto descriptor generation, suitable for extension as keyboard, mouse, gamepad, etc
CHIDDescBlockIN	包含 IN 端点的描述符块 Descriptor block with IN endpoint
CHIDDescBlockINOUT	包含 IN+OUT 端点的描述符块 Descriptor block with IN and OUT endpoints
CHIDDescriptor	HID描述符结构体 HID descriptor structure
►CHIDGamepadT	模板化 4 轴 + 8 按钮 HID 手柄 / Templated 4-axis + 8-button HID gamepad
CReport	输入报告结构（9 字节） / Input report structure (9 bytes)
►CHIDKeyboard	标准 USB HID 键盘派生类 Standard USB HID Keyboard derived class
CReport	输入报告结构体 / Keyboard input report struct
►CHIDMouse	标准 USB HID 鼠标派生类 / Standard USB HID Mouse derived class
CReport	鼠标报告结构体 / Mouse input report structure
CSetupPacket	USB 标准请求 SETUP 包（固定8字节） Standard USB setup packet (8 bytes)
►CUAC1MicrophoneQ	UAC1 队列式麦克风设备类实现 UAC1 queue‑driven microphone device class implementation
CACFeatureUnit	AC 特性单元（静音/音量） AC feature unit (mute/volume)
CACInputTerminal	AC 输入端子（麦克风） AC input terminal (Microphone)
CACOutputTerminal	AC 输出端子（USB 流） AC output terminal (USB streaming)
CASGeneral	AS 通用描述符 AS general descriptor
CCSACHeader	AC 头描述符 AC header descriptor
CCSEndpointGeneral	类特定端点（通用） Class‑specific endpoint (general)
CEndpointDescriptorIso9	标准等时 IN 端点（9 字节，含 bRefresh/bSynchAddress） Standard isoch IN endpoint (9 bytes, with bRefresh/bSynchAddress)
CTypeIFormat1	Type I 格式（单一离散采样率） Type I format (single discrete sampling frequency)
CUAC1DescBlock	UAC1 描述符块 UAC1 descriptor block
CADC	模拟数字转换器（ADC）基类
CApplication	应用模块抽象类，需实现 OnMonitor 方法
CApplicationManager	应用模块管理器
CAssert	运行时错误检查的断言工具类。 Provides assertion mechanisms for runtime error checking
CASync	异步任务处理类。 Asynchronous task processing class
CAxis	三维坐标轴类，继承自 Eigen::Matrix<Scalar, 3, 1>。 A 3D axis class, inheriting from Eigen::Matrix<Scalar, 3, 1>
CBaseQueue	基础队列类，提供固定大小的循环缓冲区 (Base queue class providing a fixed-size circular buffer)
CCallback	提供一个通用的回调包装，支持动态参数传递。 Provides a generic callback wrapper, supporting dynamic argument passing
CCallbackBlock	提供一个回调函数的封装，实现参数绑定和回调执行。 Provides a wrapper for callback functions, enabling argument binding and invocation
►CCAN	CAN通信接口，定义标准CAN通信结构，支持不同类型的消息 (CAN communication interface that defines a standard CAN structure supporting different message types)
CFilter
CCenterOfMass	质心信息表示类。Represents the center of mass information
CCH32Flash
CCH32GPIO
CCH32PWM
CCH32SPI
CCH32Timebase
CCH32UART
CCH32USBDevice
CConstRawData	常量原始数据封装类。 A class for encapsulating constant raw data
CCRC16	16 位循环冗余校验（CRC-16）计算类 / CRC-16 checksum computation class
CCRC32	32 位循环冗余校验（CRC-32）计算类 / CRC-32 checksum computation class
CCRC8	8 位循环冗余校验（CRC-8）计算类 / CRC-8 checksum computation class
CCycleValue	角度循环处理类，用于处理周期性角度计算。 A cyclic angle handling class for periodic angle calculations
CDAC	数字模拟转换器（DAC）基类
►CDatabase	数据库接口，提供键值存储和管理功能 (Database interface providing key-value storage and management)
CKey	模板类，表示数据库中的具体键 (Template class representing a specific key in the database)
CKeyBase	键的基类，存储键名及其数据 (Base class for keys, storing key name and associated data)
►CDatabaseRaw	适用于最小写入单元受限的 Flash 存储的数据库实现 (Database implementation for Flash storage with minimum write unit restrictions)
CBlockBoolData
CBlockBoolUtil
CFlashInfo	Flash 存储的块信息结构 (Structure representing a Flash storage block)
CKeyInfo	键信息结构，存储键的元数据 (Structure containing key metadata)
►CDatabaseRawSequential	适用于不支持逆序写入的 Flash 存储的数据库实现 (Database implementation for Flash storage that does not support reverse writing)
CFlashInfo	Flash 存储的块信息结构 (Structure representing a Flash storage block)
CKeyInfo	键信息结构，存储键的元数据 (Structure containing key metadata)
CDoubleBuffer	双缓冲区管理类 / Double buffer manager class
CEntry
►CESP32ADC	ESP32 ADC多通道驱动
CChannel	ADC通道对象，提供通道级数据访问和抽象接口。
CESP32GPIO
CESP32NvsFlashDatabase
CESP32PWM
CESP32Timebase	基于 esp_timer 的时间基准实现（微秒与毫秒） Timebase implementation using esp_timer (microseconds and milliseconds)
CESP32UART
CESP32UARTReadPort
CESP32UARTWritePort
CESP32VirtualUART
CESP32WifiClient	ESP32 平台的 WiFi 客户端实现 / WiFi client implementation for ESP32
CEulerAngle	表示欧拉角的类，用于描述3D旋转。Class representing Euler angles for 3D rotation
►CEvent	事件管理系统，允许基于事件 ID 注册和触发回调函数。 Event management system that allows registration and triggering of callbacks based on event IDs
CBlock	用于存储事件回调的数据结构。 Data structure for storing event callbacks
►CFDCAN	FDCAN 通信接口，扩展 CAN 功能，支持灵活数据速率（FD）CAN 消息 (FDCAN communication interface that extends CAN functionality by supporting Flexible Data-Rate (FD) CAN messages)
CFilter
CFlash	Abstract base class representing a flash memory interface. 抽象基类，表示闪存接口。
CFlashSector	STM32Flash 通用类，构造时传入扇区列表，自动判断编程粒度。
CFloatEncoder	浮点数编码器，将浮点值映射到定长无符号整数。 A generic float encoder mapping a float value to N-bit unsigned integer
►CGPIO	通用输入输出（GPIO）接口类。General Purpose Input/Output (GPIO) interface class
CConfiguration	存储 GPIO 配置参数的结构体。Structure storing GPIO configuration parameters
►CHardwareContainer
CAliasEntry
►CI2C	I2C（Inter-Integrated Circuit）接口类。 I2C (Inter-Integrated Circuit) interface class
CConfiguration	I2C 设备的配置信息结构体。 Configuration structure for an I2C device
CInertia	表示刚体的惯性张量和质量信息的类。Provides a class to represent the inertia tensor and mass of a rigid body
CIPAddressRaw	原始 IPv4 地址 / Raw IPv4 address
CIPAddressStr	字符串形式 IPv4 地址 / IPv4 address as string
CLinuxBinaryFileFlash	LinuxBinaryFileFlash 类，用于从二进制文件加载闪存数据 LinuxBinaryFileFlash class for loading flash data from a binary file
CLinuxPowerManager	基于 Linux 的电源管理器实现 / Linux implementation of PowerManager
CLinuxTimebase	LinuxTimebase 类，用于获取 Linux 系统的时间基准。Provides a timebase for Linux systems
CLinuxUART
►CList	链表实现，用于存储和管理数据节点。 A linked list implementation for storing and managing data nodes
CBaseNode	链表基础节点，所有节点都继承自该类。 Base node for the linked list, serving as a parent for all nodes
CNode	数据节点模板，继承自 BaseNode，用于存储具体数据类型。 Template data node that inherits from BaseNode to store specific data types
►CLockFreeList	链表实现，用于存储和管理数据节点。 A linked list implementation for storing and managing data nodes
CBaseNode	链表基础节点，所有节点都继承自该类。 Base node for the linked list, serving as a parent for all nodes
CNode	数据节点模板，继承自 BaseNode，用于存储具体数据类型。 Template data node that inherits from BaseNode to store specific data types
►CLockFreePool	无锁无序槽池 / Lock-free, unordered slot pool
CSlot	单个槽结构体 / Individual slot structure (cache line aligned)
CLockFreeQueue	无锁队列实现 / Lock-free queue implementation
CLockQueue	线程安全的锁队列类，提供同步和异步操作支持 Thread-safe lock queue class with synchronous and asynchronous operation support
CLogData	日志数据结构体 / Log data structure
CLogger	日志管理器 / LibXR Logger Manager
CMACAddressRaw	原始 MAC 地址 / Raw MAC address
CMACAddressStr	字符串形式 MAC 地址 / MAC address as string
CMemory	内存操作类 / Memory operation class
►CMicrosecondTimestamp	表示微秒级时间戳的类。Class representing a timestamp in microseconds
CDuration	表示微秒级时间差的类。Class representing a time difference in microseconds
►CMillisecondTimestamp	表示毫秒级时间戳的类。Class representing a timestamp in milliseconds
CDuration	表示毫秒级时间差的类。Class representing a time difference in milliseconds
►CMutex	互斥锁类，提供线程同步机制 (Mutex class providing thread synchronization mechanisms)
CLockGuard	互斥锁的 RAII 机制封装 (RAII-style mechanism for automatic mutex management)
CNetworkInterface	抽象网络接口类 / Abstract base for network interfaces
COperation	Defines an operation with different execution modes
►CPID	通用 PID 控制器类。 Generic PID controller
CParam	PID 参数结构体。 Structure holding PID parameters
CPipe	基于共享队列，由 ReadPort + WritePort 组成的单向管道。
CPosition	三维空间中的位置向量 / 3D position vector
CPowerManager	电源管理器基类 / Abstract base class for Power Manager
►CPWM	Abstract base class for PWM (Pulse Width Modulation) control. PWM（脉冲宽度调制）控制的抽象基类。
CConfiguration	Configuration parameters for PWM. PWM 配置参数。
CQuaternion	四元数表示与运算，继承自 Eigen::Quaternion / Quaternion representation and operations, inheriting from Eigen::Quaternion
CQueue	基于 BaseQueue 的泛型队列模板类 (Generic queue template class based on BaseQueue)
►CRamFS	轻量级的内存文件系统，实现基本的文件、目录和设备管理 A lightweight in-memory file system implementing basic file, directory, and device management
CDevice	设备类，继承自红黑树节点 DeviceNode Device class inheriting from Red-Black tree node DeviceNode
CDeviceNode	设备节点，继承自 FsNode Device node, inheriting from FsNode
CDir	目录类，继承自 RBTree 节点，用于管理文件、子目录和设备 Directory class, inheriting from RBTree node, used for managing files, subdirectories, and devices
CDirNode	目录节点，继承自 FsNode Directory node, inheriting from FsNode
CFileNode	文件节点类，继承自 FsNode，表示文件 File node class, inheriting from FsNode, representing a file
CFsNode	文件系统节点基类，所有文件和目录均继承自该类 Base class for file system nodes; all files and directories inherit from this
CStorageBlock
CRawData	原始数据封装类。 A class for encapsulating raw data
►CRBTree	红黑树实现，支持泛型键和值，并提供线程安全操作 (Red-Black Tree implementation supporting generic keys and values with thread-safe operations)
CBaseNode	红黑树的基本节点结构 (Base node structure of the Red-Black Tree)
CNode	红黑树的泛型数据节点，继承自 BaseNode (Generic data node for Red-Black Tree, inheriting from BaseNode)
CReadInfoBlock	Read information block structure
CReadPort	ReadPort class for handling read operations
CRotationMatrix	旋转矩阵类，继承自 Eigen::Matrix<Scalar, 3, 3>。 Rotation matrix class, inheriting from Eigen::Matrix<Scalar, 3, 3>
CSemaphore	信号量类，实现线程同步机制 Semaphore class implementing thread synchronization
►CSPI	串行外设接口（SPI）抽象类。Abstract class for Serial Peripheral Interface (SPI)
CConfiguration	存储 SPI 配置参数的结构体。Structure for storing SPI configuration parameters
CReadWriteInfo	存储 SPI 读写操作信息的结构体。Structure for storing SPI read/write operation information
CStack	线程安全的栈数据结构 / Thread-safe stack data structure
CSTDIO	STDIO interface for read/write ports
►CSTM32ADC	STM32ADC 类，用于处理 STM32 系统的 ADC 通道。 Provides handling for STM32 ADC channels
CChannel	STM32ADC 类，用于处理 STM32 系统的 ADC 通道。 Provides handling for STM32 ADC
CGetADCResolution	获取 ADC 分辨率 Get ADC resolution
CGetADCResolution< T, std::void_t< decltype(std::declval< T >().Init.Resolution)> >	获取 ADC 分辨率 Get ADC resolution
CHasContinuousConvMode
CHasContinuousConvMode< T, std::void_t< decltype(std::declval< T >() ->Init.ContinuousConvMode)> >
CHasConversionDataManagement
CHasConversionDataManagement< T, std::void_t< decltype(std::declval< T >() ->Init.ConversionDataManagement)> >
CHasDMACircularMode
CHasDMACircularMode< T, std::void_t< decltype(std::declval< T >() ->DMA_Handle->Init.Mode)> >
CHasDMAContinuousRequests
CHasDMAContinuousRequests< T, std::void_t< decltype(std::declval< T >() ->Init.DMAContinuousRequests)> >
CHasNbrOfConversion
CHasNbrOfConversion< T, std::void_t< decltype(std::declval< T >() ->Init.NbrOfConversion)> >
CSTM32CAN	STM32CAN 类，用于处理 STM32 系统的 CAN 通道。 Provides handling for STM32 CAN channels
►CSTM32CANFD	STM32CANFD 类，用于处理 STM32 系统的 CANFD 通道。 Provides handling for STM32 CANFD
CHasMessageRAMOffset
CHasMessageRAMOffset< T, std::void_t< decltype(std::declval< T >() ->Init.MessageRAMOffset)> >
CSTM32Endpoint
CSTM32Flash	STM32Flash 通用类，构造时传入扇区列表，自动判断编程粒度。
CSTM32GPIO
►CSTM32I2C
CHasClockSpeed
CHasClockSpeed< T, std::void_t< decltype(std::declval< T >() ->Init.ClockSpeed)> >
CSTM32PowerManager
CSTM32PWM
CSTM32SPI
CSTM32Timebase	获取基于STM32 SysTick计数器的时间基准（微秒与毫秒） / Provides a timebase using STM32 SysTick timer (microseconds and milliseconds)
CSTM32TimerTimebase	基于硬件定时器的时间基准类 / Provides a timebase using hardware timer (TIM)
CSTM32UART
CSTM32USBDevice
CSTM32Watchdog	STM32 IWDG 独立看门狗 / Independent Watchdog
CString	A fixed-length string class with safe operations
CTerminal	终端类，实现一个基于 RamFS 的基本命令行接口 Terminal class implementing a basic command-line interface based on RamFS
CThread	线程管理类，封装 POSIX 线程创建和调度 Thread management class encapsulating POSIX thread creation and scheduling
CTimebase	时间基类，用于提供高精度时间戳。 Timebase class for providing high-precision timestamps
►CTimer	定时器类，实现周期性任务调度 Timer class for scheduling periodic tasks
CControlBlock	控制块类，存储任务信息 Control block class for storing task information
CTinyUSBUARTReadPort
CTinyUSBUARTWritePort
CTinyUSBVirtualUART
►CTopic	主题（Topic）管理类 / Topic management class
CASyncBlock	异步订阅块，继承自 SuberBlock Asynchronous subscription block, inheriting from SuberBlock
CASyncSubscriber	异步订阅者类，用于订阅异步数据 Asynchronous subscriber class for subscribing to asynchronous data
CBlock	存储主题（Topic）数据的结构体。Structure storing topic data
CCallbackBlock	回调订阅块，继承自 SuberBlock Callback subscription block, inheriting from SuberBlock
CDomain	主题域（Domain）管理器，用于组织多个主题。Domain manager for organizing multiple topics
CQueueBlock	队列订阅块，继承自 SuberBlock Queue subscription block, inheriting from SuberBlock
CQueuedSubscriber
CServer	服务器类，负责解析数据并将其分发到相应的主题 Server class responsible for parsing data and distributing it to corresponding topics
CSuberBlock	订阅者信息存储结构。Structure storing subscriber information
CSyncBlock	同步订阅者存储结构。Structure storing synchronous subscriber data
CSyncSubscriber	同步订阅者类，允许同步方式接收数据。Synchronous subscriber class allowing data reception in a synchronous manner
CTransform	表示三维空间中的刚体变换，包括旋转和位移。Represents rigid body transformations in 3D space, including rotation and translation
CTypeID	类型标识符生成器，替代 typeid
►CUART	通用异步收发传输（UART）基类 / Abstract base class for Universal Asynchronous Receiver-Transmitter (UART)
CConfiguration	UART 配置结构体 / UART configuration structure
►CWatchdog	通用看门狗（Watchdog）抽象接口 General Watchdog interface for both thread and task style usage
CConfiguration	看门狗配置结构体 Configuration for the watchdog
CWebAsmTimebase	WebAsmTimebase 类，用于获取 WebAssembly 系统的时间基准。
CWebotsTimebase	WebotsTimebase 类，用于获取 Webots 的时间基准。Provides a timebase for Webots
►CWifiClient	WiFi 客户端接口 / WiFi Client Interface
CConfig	WiFi 连接配置 / WiFi connection configuration
CEnterpriseConfig	企业 WiFi 配置 / Enterprise WiFi configuration
CScanResult	WiFi 扫描结果 / WiFi scan result
CStaticIPConfig	静态 IP 配置 / Static IP configuration
CWriteInfoBlock
►CWritePort	WritePort class for handling write operations
CStream	WritePort 的流式写入操作器，支持链式 << 操作和批量提交。
CHasTxFifoQueueElmtsNbr
CHasTxFifoQueueElmtsNbr< T, std::void_t< decltype(std::declval< T >() ->Init.TxFifoQueueElmtsNbr)> >