C++ Examples#

The vendored SDK ships C++ examples under external/rby1-sdk/examples/cpp. Use this page to pick a runnable starting point, then jump back into the class-reference pages for the specific types that appear in the sample.

Recommended First Files

get_robot_state.cpp for the smallest client-side state example.
demo_motion.cpp for the standard power, servo, control-manager, and command flow.
real_time_control_command.cpp for the advanced UDP control callback path.
dynamics/load_urdf.cpp for a pure model-and-dynamics entry point.

Connection & State

Example	Main types	What it demonstrates
`get_robot_state.cpp`	`rb::Robot`, `rb::RobotState`	Connect, start state updates, and inspect live measurements.
`get_robot_state2.cpp`	`rb::Robot`, `rb::RobotState`	Alternate state polling and monitoring flow.
`log.cpp`	`rb::Robot`, `rb::Log`	Read recent logs and stream new log records.

Motion & Commands

Example	Main types	What it demonstrates
`demo_motion.cpp`	`rb::Robot`, command builders	Standard command submission from the high-level client.
`stop_command.cpp`	`rb::StopCommandBuilder`	Stop-command submission through the whole-body builder path.
`power_command.cpp`	`rb::Robot`	Power control through the robot client.
`mobility_command.cpp`	`rb::MobilityCommandBuilder`, `rb::SE2VelocityCommandBuilder`	Mobility and planar-base command composition.
`reset_odometry.cpp`	`rb::Robot`	Odometry reset from the client API.

Real-Time & Control

Example	Main types	What it demonstrates
`real_time_control_command.cpp`	`rb::ControlInput`, `rb::ControlState`, `rb::Robot`	Real-time control callback with model-based computation.
`optimal_control.cpp`	`rb::OptimalControlCommandBuilder`, `rb::OptimalControl`	Optimal-control command and solver usage.
`gravity_compensation.cpp`	`rb::GravityCompensationCommandBuilder`	Gravity compensation command composition.
`teleoperation_with_joint_mapping.cpp`	robot client, mapping utilities, master-arm flow	Joint-space teleoperation concepts.

Dynamics & Math

Example	Main types	What it demonstrates
`dynamics/load_urdf.cpp`	`rb::dyn::Robot`, `rb::dyn::State`	Load a URDF model and inspect the rigid-body tree.
`dynamics/dynamics_coeff.cpp`	`rb::dyn::Robot`	Dynamic-coefficient calculations.
`dynamics/gravity_term.cpp`	`rb::dyn::Robot`	Gravity term computation.
`dynamics/inverse_dynamics.cpp`	`rb::dyn::Robot`	Inverse-dynamics computation.
`dynamics/mass_matrix.cpp`	`rb::dyn::Robot`	Mass-matrix computation.
`dynamics/reflective_mass.cpp`	`rb::dyn::Robot`	Reflective mass analysis.
`so3.cpp`	`rb::math::SO3`	Rotation construction and conversion helpers.
`trapezoidal_motion_generator.cpp`	`rb::TrapezoidalMotionGenerator`	Motion-profile generation.
`velocity_estimation.cpp`	`rb::VelocityFilterEstimator`	Filter-based velocity estimation.

Diagnostics & Modules

Example	Main types	What it demonstrates
`break_test.cpp`	`rb::Robot`	Brake engagement and release flow.
`rtcomm_protocol.cpp`	UDP and protocol helpers	Lower-level RT communication inspection.
`kinematic_calibration.cpp` and `kinematic_calibration2.cpp`	robot client and model utilities	Calibration-oriented workflows.
`module_test/*`	`rb::upc::MasterArm`, `rb::DynamixelBus`, robot client	Module-level tests for gripper, torso, head, arms, tool flange, and master arm.