diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 9dbdb26..0732b8c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -16,6 +16,7 @@ set(SOURCES
     asn1Motion2DConvert.cpp
     asn1OrientationConvert.cpp
     asn1OrientationUtils.c
+    asn1PointConvert.cpp
     asn1PoseConvert.cpp
     asn1QuaterniondConvert.cpp
     asn1QuaterniondUtils.c
@@ -54,6 +55,7 @@ set(HEADERS
     asn1Motion2DConvert.hpp
     asn1OrientationConvert.hpp
     asn1OrientationUtils.h
+    asn1PointConvert.hpp
     asn1PoseConvert.hpp
     asn1QuaterniondConvert.hpp
     asn1QuaterniondUtils.h
@@ -77,6 +79,10 @@ set(HEADERS
     ia5stringConvert.hpp
     )
 
+file(GLOB TYPE_SOURCES
+ ${${LIB}_BINARY_DIR}/asn1/*.c
+)
+
 # ASN.1 types are imported and compiled locally to the project, but not installed
 esrocos_asn1_types_package(${LIB}_local_types
     OUTDIR asn1
@@ -86,7 +92,7 @@ esrocos_asn1_types_package(${LIB}_local_types
 link_directories(${CMAKE_INSTALL_PREFIX}/lib)
 
 # Target library
-add_library(${LIB} SHARED ${SOURCES})
+add_library(${LIB} SHARED ${SOURCES} ${TYPE_SOURCES})
 set_target_properties(${LIB} PROPERTIES LINKER_LANGUAGE CXX)
 esrocos_pkgconfig_dependency(${LIB}
     eigen3
@@ -95,7 +101,7 @@ target_include_directories(${LIB}
    PUBLIC ${CMAKE_INSTALL_PREFIX}/include
    PRIVATE ${CMAKE_CURRENT_BINARY_DIR}
 )
-add_dependencies(${LIB} ${LIB}_local_types)
+add_dependencies(${LIB} ${LIB}_local_types_generate_c)
 
 # Install headers, libraries and pkg-config file
 install(FILES ${HEADERS}
diff --git a/src/asn1Matrix3dConvert.cpp b/src/asn1Matrix3dConvert.cpp
index 2515fdc..82b6e18 100644
--- a/src/asn1Matrix3dConvert.cpp
+++ b/src/asn1Matrix3dConvert.cpp
@@ -19,11 +19,10 @@ void Matrix3d_fromAsn1(base::Matrix3d& result, const asn1SccMatrix3d& asnVal)
 
 void Matrix3d_toAsn1(asn1SccMatrix3d& result, const base::Matrix3d& baseObj)
 {
-    result.nCount = 3;
-    for (int j = 0; j < result.nCount; j++)
+
+    for (int j = 0; j < 3; j++)
     {
-        result.arr[j].nCount = 3;
-        for (int i = 0; i < result.arr[j].nCount; i++)
+        for (int i = 0; i < 3; i++)
         {
             result.arr[j].arr[i] = baseObj(i, j);
         }
diff --git a/src/asn1Matrix4dConvert.cpp b/src/asn1Matrix4dConvert.cpp
index 6811ff8..5d11641 100644
--- a/src/asn1Matrix4dConvert.cpp
+++ b/src/asn1Matrix4dConvert.cpp
@@ -20,11 +20,9 @@ void Matrix4d_fromAsn1(base::Matrix4d& result, const asn1SccMatrix4d& asnVal)
 
 void Matrix4d_toAsn1(asn1SccMatrix4d& result, const base::Matrix4d& baseObj)
 {
-    result.nCount = 4;
-    for (int j = 0; j < result.nCount; j++)
+    for (int j = 0; j < 4; j++)
     {
-        result.arr[j].nCount = 4;
-        for (int i = 0; i < result.arr[j].nCount; i++)
+        for (int i = 0; i < 4; i++)
         {
             result.arr[j].arr[i] = baseObj(i, j);
         }
diff --git a/src/asn1Matrix6dConvert.cpp b/src/asn1Matrix6dConvert.cpp
index 9441e43..23c2b56 100644
--- a/src/asn1Matrix6dConvert.cpp
+++ b/src/asn1Matrix6dConvert.cpp
@@ -22,11 +22,9 @@ void Matrix6d_fromAsn1(base::Matrix6d& result, const asn1SccMatrix6d& asnVal)
 
 void Matrix6d_toAsn1(asn1SccMatrix6d& result, const base::Matrix6d& baseObj)
 {
-    result.nCount = 6;
-    for (int j = 0; j < result.nCount; j++)
+    for (int j = 0; j < 6; j++)
     {
-        result.arr[j].nCount = 6;
-        for (int i = 0; i < result.arr[j].nCount; i++)
+        for (int i = 0; i < 6; i++)
         {
             result.arr[j].arr[i] = baseObj(i, j);
         }
diff --git a/src/asn1PointConvert.cpp b/src/asn1PointConvert.cpp
new file mode 100644
index 0000000..98780a7
--- /dev/null
+++ b/src/asn1PointConvert.cpp
@@ -0,0 +1,29 @@
+/*
+ * H2020 ESROCOS Project
+ * Company: GMV Aerospace & Defence S.A.U.
+ * Licence: GPLv2
+ */
+
+/*
+ * Conversion functions for asn1Point (implementation).
+ */
+
+#include "asn1PointConvert.hpp"
+#include <cmath>
+
+void Point_fromAsn1(base::Vector3d& result, const asn1SccPoint& asnVal)
+{
+    for (int i = 0; i < 3; i++)
+    {
+        result[i] = asnVal.arr[i];
+    }
+}
+
+void Point_toAsn1(asn1SccPoint& result, const base::Vector3d& baseObj)
+{
+    for (int i = 0; i < 3; i++)
+    {
+        result.arr[i] = baseObj[i];
+    }
+}
+
diff --git a/src/asn1PointConvert.hpp b/src/asn1PointConvert.hpp
new file mode 100644
index 0000000..42cc3ee
--- /dev/null
+++ b/src/asn1PointConvert.hpp
@@ -0,0 +1,21 @@
+/*
+ * H2020 ESROCOS Project
+ * Company: GMV Aerospace & Defence S.A.U.
+ * Licence: GPLv2
+ */
+
+/*
+ * Conversion functions for asn1Point (header).
+ */
+
+#ifndef ASN1POINTCONVERT_HPP
+#define ASN1POINTCONVERT_HPP
+
+#include "baseTypes.h"
+#include "base/Eigen.hpp"
+
+// Conversion functions
+void Point_fromAsn1(base::Vector3d& result, const asn1SccPoint& asnVal);
+void Point_toAsn1(asn1SccPoint& result, const base::Vector3d& baseObj);
+
+#endif //ASN1POINTCONVERT_HPP
diff --git a/src/asn1QuaterniondUtils.c b/src/asn1QuaterniondUtils.c
index fc698fb..4ba9e92 100644
--- a/src/asn1QuaterniondUtils.c
+++ b/src/asn1QuaterniondUtils.c
@@ -15,7 +15,6 @@
 asn1SccQuaterniond Quaterniond_create(double w, double x, double y, double z)
 {
     asn1SccQuaterniond result;
-    result.nCount = 4;
     result.arr[0] = x;
     result.arr[1] = y;
     result.arr[2] = z;
diff --git a/src/asn1TransformWithCovarianceConvert.cpp b/src/asn1TransformWithCovarianceConvert.cpp
index 49f1c32..bdfcb1c 100644
--- a/src/asn1TransformWithCovarianceConvert.cpp
+++ b/src/asn1TransformWithCovarianceConvert.cpp
@@ -15,17 +15,17 @@
 
 void TransformWithCovariance_fromAsn1(base::TransformWithCovariance& result, const asn1SccTransformWithCovariance& asnVal)
 {
-    Vector3d_fromAsn1(result.translation, asnVal.translation);
-    Orientation_fromAsn1(result.orientation, asnVal.orientation);
-    Matrix6d_fromAsn1(result.cov, asnVal.cov);
+    Vector3d_fromAsn1(result.translation, asnVal.data.translation);
+    Orientation_fromAsn1(result.orientation, asnVal.data.orientation);
+    Matrix6d_fromAsn1(result.cov, asnVal.data.cov);
 }
 
 
 void TransformWithCovariance_toAsn1(asn1SccTransformWithCovariance& result, const base::TransformWithCovariance& baseObj)
 {
-    Vector3d_toAsn1(result.translation, baseObj.translation);
-    Orientation_toAsn1(result.orientation, baseObj.orientation);
-    Matrix6d_toAsn1(result.cov, baseObj.cov);
+    Vector3d_toAsn1(result.data.translation, baseObj.translation);
+    Orientation_toAsn1(result.data.orientation, baseObj.orientation);
+    Matrix6d_toAsn1(result.data.cov, baseObj.cov);
 }
 
 
diff --git a/src/asn1TwistWithCovarianceConvert.cpp b/src/asn1TwistWithCovarianceConvert.cpp
index a01dbfa..9f837ac 100644
--- a/src/asn1TwistWithCovarianceConvert.cpp
+++ b/src/asn1TwistWithCovarianceConvert.cpp
@@ -14,17 +14,17 @@
 
 void TwistWithCovariance_fromAsn1(base::TwistWithCovariance& result, const asn1SccTwistWithCovariance& asnVal)
 {
-    Vector3d_fromAsn1(result.vel, asnVal.vel);
-    Vector3d_fromAsn1(result.rot, asnVal.rot);
-    Matrix6d_fromAsn1(result.cov, asnVal.cov);
+    Vector3d_fromAsn1(result.vel, asnVal.data.vel);
+    Vector3d_fromAsn1(result.rot, asnVal.data.rot);
+    Matrix6d_fromAsn1(result.cov, asnVal.data.cov);
 }
 
 
 void TwistWithCovariance_toAsn1(asn1SccTwistWithCovariance& result, const base::TwistWithCovariance& baseObj)
 {
-    Vector3d_toAsn1(result.vel, baseObj.vel);
-    Vector3d_toAsn1(result.rot, baseObj.rot);
-    Matrix6d_toAsn1(result.cov, baseObj.cov);
+    Vector3d_toAsn1(result.data.vel, baseObj.vel);
+    Vector3d_toAsn1(result.data.rot, baseObj.rot);
+    Matrix6d_toAsn1(result.data.cov, baseObj.cov);
 }
 
 
diff --git a/src/asn1Vector3dConvert.cpp b/src/asn1Vector3dConvert.cpp
index 110282e..2dcb0af 100644
--- a/src/asn1Vector3dConvert.cpp
+++ b/src/asn1Vector3dConvert.cpp
@@ -22,8 +22,7 @@ void Vector3d_fromAsn1(base::Vector3d& result, const asn1SccVector3d& asnVal)
 
 void Vector3d_toAsn1(asn1SccVector3d& result, const base::Vector3d& baseObj)
 {
-    result.nCount = 3;
-    for (int i = 0; i < result.nCount; i++)
+    for (int i = 0; i < 3; i++)
     {
         result.arr[i] = baseObj[i];
     }
diff --git a/src/asn1Vector3dUtils.c b/src/asn1Vector3dUtils.c
index 6a5869c..d60feda 100644
--- a/src/asn1Vector3dUtils.c
+++ b/src/asn1Vector3dUtils.c
@@ -14,7 +14,6 @@
 asn1SccVector3d Vector3d_create(double x, double y, double z)
 {
     asn1SccVector3d result;
-    result.nCount = 3;
     result.arr[0] = x;
     result.arr[1] = y;
     result.arr[2] = z;
diff --git a/src/asn1Vector4dConvert.cpp b/src/asn1Vector4dConvert.cpp
index 4723967..a3a9018 100644
--- a/src/asn1Vector4dConvert.cpp
+++ b/src/asn1Vector4dConvert.cpp
@@ -21,8 +21,7 @@ void Vector4d_fromAsn1(base::Vector4d& result, const asn1SccVector4d& asnVal)
 
 void Vector4d_toAsn1(asn1SccVector4d& result, const base::Vector4d& baseObj)
 {
-    result.nCount = 4;
-    for (int i = 0; i < result.nCount; i++)
+    for (int i = 0; i < 4; i++)
     {
         result.arr[i] = baseObj[i];
     }
diff --git a/src/asn1Vector4dUtils.c b/src/asn1Vector4dUtils.c
index 83ba877..4bd8fc5 100644
--- a/src/asn1Vector4dUtils.c
+++ b/src/asn1Vector4dUtils.c
@@ -14,7 +14,6 @@
 asn1SccVector4d Vector4d_create(double x, double y, double z, double w)
 {
     asn1SccVector4d result;
-    result.nCount = 4;
     result.arr[0] = x;
     result.arr[1] = y;
     result.arr[2] = z;
diff --git a/src/asn1Vector6dConvert.cpp b/src/asn1Vector6dConvert.cpp
index cfdf566..cea07b8 100644
--- a/src/asn1Vector6dConvert.cpp
+++ b/src/asn1Vector6dConvert.cpp
@@ -21,8 +21,7 @@ void Vector6d_fromAsn1(base::Vector6d& result, const asn1SccVector6d& asnVal)
 
 void Vector6d_toAsn1(asn1SccVector6d& result, const base::Vector6d& baseObj)
 {
-    result.nCount = 6;
-    for (int i = 0; i < result.nCount; i++)
+    for (int i = 0; i < 6; i++)
     {
         result.arr[i] = baseObj[i];
     }
diff --git a/src/asn1Vector6dUtils.c b/src/asn1Vector6dUtils.c
index ce46622..1a7cc84 100644
--- a/src/asn1Vector6dUtils.c
+++ b/src/asn1Vector6dUtils.c
@@ -14,7 +14,6 @@
 asn1SccVector6d Vector6d_create(double v0, double v1, double v2, double v3, double v4, double v5)
 {
     asn1SccVector6d result;
-    result.nCount = 6;
     result.arr[0] = v0;
     result.arr[1] = v1;
     result.arr[2] = v2;