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Basic Programming (LibXR)

This chapter introduces LibXR's CMake configuration and basic APIs. The basic APIs cover the core API, data structures, middleware, OS abstractions, device drivers, and math and utilities.

Prerequisites​

The examples in this chapter assume a project that links xr as described in CMake Configuration and includes libxr.hpp. Device driver headers (such as uart.hpp and gpio.hpp) and some utility headers (such as pid.hpp, cycle_value.hpp and serialized_service.hpp) are not part of libxr.hpp and are included separately. With LIBXR_NO_EIGEN enabled, the contents of transform.hpp, kinematic.hpp and inertia.hpp are not compiled.

A program calls LibXR::PlatformInit() once before using other LibXR features; the parameters and the call order on each backend are described in Platform initialization. The minimal Linux program below prints Hello, 42:

#include "libxr.hpp"

int main()
{
  LibXR::PlatformInit();
  LibXR::STDIO::Printf<"Hello, %d\n">(42);
  LibXR::Thread::Sleep(100);  // wait for the STDIO thread to write
  return 0;
}

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