Aron/Introduction.md

@@ -3,19 +3,37 @@
 Aron (ArmarX Object Notation) is the ArmarX implementation of variants which can be transferred over the network via ZeroC Ice. Further, Aron is the data representation used in the ArmarX Memory System [ArMem](ArMem/ArMem). We distinguish between:
 
 - type specification vs. data information
-- data transfer object (in the following called Aron dto) vs. its corresponding c++ wrapper (in the following called Aron object)
+- data transfer object (in the following called Aron DTO) vs. its corresponding c++ wrapper (in the following called Aron object). The DTO specificatio is done in ice so that every Aron object can be transferred via ice.
 
 ## 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. It can only consist of the following types and information (AronVariant means any Type):
 
 ```cpp
-    Object { // dto called AronObject
+    Object { // dto called armarx::aron::type::dto::AronObject
         string name;
         AronVariant extends;
-        map<string, AronVariant> members;
+        map<string, AronVariant> memberTypes;
     }
-    Dict {
+    Dict { // dto called armarx::aron::type::dto::Dict
         AronVariant acceptedType;
     }
+    List { // dto called armarx::aron::type::dto::List
+         AronVariant acceptedType;
+    }
+    Pair {
+         AronVariant acceptedType1;
+         AronVariant acceptedType2;
+    }
+    Tuple {
+         vector<AronVariant> acceptedTypes;
+    }
+    IntEnum {
+         string name;
+         map<string, int> acceptedValues;
+    }
+    NDArray {
+         int ndim;
+         type type; // in [uint8, int8, uint16, int16, uint32, int32, float32, float64]
+    }
 ```
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