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 SDK Installation and Read State. When you want runnable entry points before reading declarations, open C++ Examples.

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