C++ Documentation
The C++ bindings for HORUS. Nodes written in C++ communicate over the same shared memory IPC as Rust and Python nodes, so a single application can mix all three.
Sections
API Reference
The full C++ API — types, functions, and message definitions.
- Node API — defining and running nodes
- Publisher & Subscriber API — topics
- Scheduler API — execution
- Services & Actions API — request/response and long-running goals
- Runtime Parameters API — configuration at run time
- TransformFrame API — coordinate frames
- Duration & Frequency API — timing types
- TensorPool, Image & PointCloud API — large-payload types
- Logging & BlackBox API — logging and event recording
Message types are documented by domain: Sensor · Geometry · Navigation · Control · Detection & Vision · Tracking & Perception · Force & Tactile · Diagnostics
Guides
- C++ Real-Time Guide — real-time behaviour in C++
- C++ Performance Guide — measuring and tuning
- C++ Testing Guide — testing C++ nodes
- C++ Error Handling — error types and result handling
- C++ Hardware Integration — talking to devices
Examples
Working code: basic and advanced.
Related
- Choosing a Language — what picking C++ commits you to
- Multi-Language — how C++, Rust and Python nodes interoperate
- Tutorials — the ten-part series, which exists in a C++ track
- Custom Messages — define a message once, use it from all three