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Part IV
Urbi SDK Reference Manual

18 Programs
 18.1 Environment Variables
 18.2 Special Files
 18.3 urbi — Running an Urbi Server
 18.4 urbi-image — Querying Images from a Server
 18.5 urbi-launch — Running a UObject
 18.6 urbi-send — Sending urbiscript Commands to a Server
 18.7 umake — Compiling UObject Components
19 urbiscript Language Reference Manual
 19.1 Syntax
 19.2 Scopes and local variables
 19.3 Functions
 19.4 Objects
 19.5 Structural Pattern Matching
 19.6 Imperative flow control
 19.7 Exceptions
 19.8 Assertions
 19.9 Parallel and event-based flow control
 19.10 Trajectories
 19.11 Garbage collection and limitations
20 urbiscript Standard Library
 20.1 Barrier
 20.2 Binary
 20.3 Boolean
 20.4 CallMessage
 20.5 Channel
 20.6 Code
 20.7 Comparable
 20.8 Container
 20.9 Control
 20.10 Date
 20.11 Dictionary
 20.12 Directory
 20.13 Duration
 20.14 Event
 20.15 Exception
 20.16 Executable
 20.17 File
 20.18 Finalizable
 20.19 Float
 20.20 Float.limits
 20.21 FormatInfo
 20.22 Formatter
 20.23 Global
 20.24 Group
 20.25 InputStream
 20.26 IoService
 20.27 Job
 20.28 Kernel1
 20.29 Lazy
 20.30 List
 20.31 Loadable
 20.32 Lobby
 20.33 Location
 20.34 Math
 20.35 Mutex
 20.36 nil
 20.37 Object
 20.38 Orderable
 20.39 OutputStream
 20.40 Pair
 20.41 Path
 20.42 Pattern
 20.43 Position
 20.44 Primitive
 20.45 Process
 20.46 Profiling
 20.47 PseudoLazy
 20.48 PubSub
 20.49 PubSub.Subscriber
 20.50 RangeIterable
 20.51 Regexp
 20.52 StackFrame
 20.53 Semaphore
 20.54 Server
 20.55 Singleton
 20.56 Socket
 20.57 String
 20.58 System
 20.59 System.PackageInfo
 20.60 System.Platform
 20.61 Tag
 20.62 Timeout
 20.63 TrajectoryGenerator
 20.64 Triplet
 20.65 Tuple
 20.66 UObject
 20.67 UValue
 20.68 UVar
 20.69 void
21 Communication with ROS
 21.1 Ros
 21.2 Ros.Topic
 21.3 Ros.Service
22 Gostai Standard Robotics API
 22.1 The Structure Tree
 22.2 Frame of Reference
 22.3 Component naming
 22.4 Localization
 22.5 Interface
 22.6 Standard Components
 22.7 Compact notation
 22.8 Support classes