.. _cpp_api:

C++ API Reference
=================

This section is the curated C++ class reference for the public headers under
``external/rby1-sdk/include/rby1-sdk``. It follows the same broad pattern used
by industrial SDK references such as ROBOTIS DYNAMIXEL: open a category page,
pick one class or struct, then read a compact member summary followed by the
generated Doxygen block.

For installation, environment setup, and first-connection checks, start with
:doc:`/getting-started/sdk-install-and-state`. When you want runnable entry
points before reading declarations, open :doc:`cpp-examples`.

.. list-table::
   :header-rows: 1
   :widths: 20 34 46

   * - Section
     - Main types
     - Description
   * - :doc:`client/index`
     - ``rb::Robot<T>``, command handlers, control-loop structs
     - High-level client entry points for connecting to a robot, streaming
       state, and sending commands.
   * - :doc:`builders/index`
     - ``RobotCommandBuilder`` and all subsystem or primitive builders
     - Command-composition classes for body, arm, torso, head, mobility, and
       real-time control requests.
   * - :doc:`feedback/index`
     - ``RobotCommandFeedback`` and child feedback classes
     - Result and progress objects returned from submitted commands.
   * - :doc:`state/index`
     - ``RobotState<T>``, ``RobotInfo``, ``ControlManagerState``, ``Log``
     - Live state snapshots, static metadata, faults, and structured log
       records.
   * - :doc:`models/index`
     - model descriptors, ``rb::dyn::*``, ``rb::math::*``
     - Compile-time model descriptors, rigid-body dynamics, Lie-group math,
       and solver helpers.
   * - :doc:`utilities/index`
     - ``DynamixelBus``, ``MasterArm``, UDP, threading, and timing helpers
     - Lower-level hardware utilities, protocol-facing helpers, and runtime
       support classes.
   * - :doc:`full-api`
     - raw Doxygen site
     - Full generated symbol list outside the curated reference pages.

.. toctree::
   :hidden:
   :maxdepth: 2

   client/index
   builders/index
   feedback/index
   state/index
   models/index
   utilities/index
   full-api