Aron/Introduction.md

@@ -7,7 +7,7 @@ Aron (ArmarX Object Notation) is the ArmarX implementation of variants which can
 
 ## Aron Type specification
 
-An Aron type specification defines the static type for an Aron data DTO or an Aron data object. It can only consist of the following types and information (AronVariant means any Type):
+An Aron type specification defines the static type for an Aron data DTO or an Aron data object. Since Aron supports maybe types (raw ptr, smart ptr, optional), every Aron type DTO contains a special member. It can only consist of the following types and information (AronVariant means any Type):
 
 ```cpp
     Object { // dto called armarx::aron::type::dto::AronObject
@@ -36,4 +36,37 @@ An Aron type specification defines the static type for an Aron data DTO or an Ar
          int ndim;
          type type; // in [uint8, int8, uint16, int16, uint32, int32, float32, float64]
     }
+    Matrix {
+         int rows, cols;
+         type type; // in [int16, int32, int64, float32, float64]
+    }
+    Quaternion {
+         type type; // in [float32, float64]
+    } 
+    Position {
+    }
+    Orientation {
+    } 
+    Pose {
+    } 
+    Image {
+        pixelType type; // in [rgb24, depth32]
+    }     
+    PointCloud {
+        voxelType type; // in [PointXYZ, PointXYZI, PointXYZL, PointXYZRGB, PointXYZRGBA, PointXYZRGBL, PointXYZHSV]
+    }
+    Int { // dto called armarx::aron::type::dto::AronInt
+    }
+    Long { // dto called armarx::aron::type::dto::AronLong
+    }
+    Float { // dto called armarx::aron::type::dto::AronFloat
+    }
+    Double { // dto called armarx::aron::type::dto::AronDouble
+    }
+    String { // dto called armarx::aron::type::dto::AronString
+    }
+    Bool { // dto called armarx::aron::type::dto::AronBool
+    }
+    Time { // dto called armarx::aron::type::dto::AronTime
+    }
 ```
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