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Contents

1 Introduction
 1.1 Urbi and UObjects
 1.2 Urbi and urbiscript
 1.3 Genesis
 1.4 Outline
2 Getting Started
I  Urbi and UObjects User Manual
3 The UObject API
 3.1 Compiling UObjects
  3.1.1 Compiling by hand
  3.1.2 The umake-* family of tools
  3.1.3 Using the Visual C ++ Wizard
 3.2 Creating a class, binding variables and functions
 3.3 Creating new instances
 3.4 Binding functions
  3.4.1 Simple binding
  3.4.2 Multiple bindings
  3.4.3 Asynchronous binding
 3.5 Notification of a variable change or access
 3.6 Data-flow based programming: exchanging UVars
 3.7 Data-flow based programming: InputPort
  3.7.1 Customizing data-flow links
 3.8 Timers
 3.9 The special case of sensor/effector variables
 3.10 Using Urbi variables
 3.11 Emitting events
 3.12 UObject and Threads
 3.13 Using binary types
  3.13.1 UVar conversion and memory management
  3.13.2 0-copy mode
 3.14 Using hubs to group objects
 3.15 Sending urbiscript code
 3.16 Using RTP transport in remote mode
  3.16.1 Enabling RTP
  3.16.2 Per-UVar control of RTP mode
 3.17 Extending the cast system
  3.17.1 Principle
  3.17.2 Casting simple structures
4 The UObject Java API
 4.1 Compiling and running UObjects
  4.1.1 Compiling and running by hand
  4.1.2 The umake-java and urbi-launch-java tools
 4.2 Creating a class, binding variables and functions
 4.3 Creating new instances
 4.4 Binding functions
  4.4.1 Simple binding
 4.5 Notification of a variable change or access
 4.6 Timers
 4.7 Using Urbi variables
 4.8 Sending Urbi code
 4.9 Providing a main class or not
 4.10 Import the examples with Eclipse
 4.11 Run the UObject Java examples
5 Use Cases
 5.1 Writing a Servomotor Device
  5.1.1 Caching
  5.1.2 Using Timers
 5.2 Using Hubs to Group Objects
  5.2.1 Alternate Implementation
 5.3 Writing a Camera Device
  5.3.1 Optimization in Plugin Mode
 5.4 Writing a Speaker or Microphone Device
 5.5 Writing a Softdevice: Ball Detection
II  urbiscript User Manual
6 First Steps
 6.1 Comments
 6.2 Literal values
 6.3 Function calls
 6.4 Variables
 6.5 Scopes
 6.6 Method calls
 6.7 Function definition
 6.8 Conclusion
7 Basic Objects, Value Model
 7.1 Objects in urbiscript
 7.2 Methods
 7.3 Everything is an object
 7.4 The urbiscript values model
 7.5 Conclusion
8 Flow Control Constructs
 8.1 if
 8.2 while
 8.3 for
 8.4 switch
 8.5 do
9 Advanced Functions and Scoping
 9.1 Scopes as expressions
 9.2 Advanced scoping
 9.3 Local functions
 9.4 Lexical closures
10 Objective Programming, urbiscript Object Model
 10.1 Prototype-based programing in urbiscript
 10.2 Prototypes and slot lookup
 10.3 Copy on write
 10.4 Defining pseudo-classes
 10.5 Constructors
 10.6 Operators
 10.7 Properties
  10.7.1 Features of Values
  10.7.2 Features of Slots
11 Functional Programming
 11.1 First class functions
 11.2 Lambda functions
 11.3 Lazy arguments
12 Parallelism, Concurrent Flow Control
 12.1 Parallelism operators
 12.2 Detach
 12.3 Tags for parallel control flows
 12.4 Advanced example with parallelism and tags
13 Event-based Programming
 13.1 Watchdog constructs
 13.2 Events
  13.2.1 Emitting Events
  13.2.2 Emitting events with a payload
14 Urbi for ROS Users
 14.1 Communication on topics
  14.1.1 Starting a process from Urbi
  14.1.2 Listening to Topics
  14.1.3 Advertising on Topics
   14.1.3.1 Simple Talker
   14.1.3.2 Turtle Simulation
 14.2 Using Services
III  Guidelines and Cook Books
15 Installation
 15.1 Download
 15.2 Install & Check
  15.2.1 GNU/Linux and Mac OS X
  15.2.2 Windows
16 Frequently Asked Questions
 16.1 Build Issues
  16.1.1 Complaints about ‘+=
  16.1.2 error: ‘¡anonymous¿’ is used uninitialized in this function
  16.1.3 AM_LANGINFO_CODESET
  16.1.4 make check’ fails
 16.2 Troubleshooting
  16.2.1 Error 1723: ”A DLL required for this install to complete could not be run.”
  16.2.2 When executing a program, the message “The system cannot execute the specified program.” is raised.
  16.2.3 When executing a program, the message “This application has failed to start” is raised.
  16.2.4 The server dies with “stack exhaustion”
  16.2.5 ’myuobject: file not found’. What can I do?
 16.3 urbiscript
  16.3.1 Objects lifetime
  16.3.2 Slots and variables
  16.3.3 Tags
  16.3.4 Events
  16.3.5 Standard Library
 16.4 UObjects
  16.4.1 Is the UObject API Thread-Safe?
 16.5 Miscellaneous
  16.5.1 What has changed since the latest release?
  16.5.2 How can I contribute to the code?
  16.5.3 How do I report a bug?
17 Migration from urbiscript 1 to urbiscript 2
 17.1 $(Foo)
 17.2 delete Foo
 17.3 emit Foo
 17.4 eval(Foo)
 17.5 foreach
 17.6 group
 17.7 loopn
 17.8 new Foo
 17.9 self
 17.10 stop Foo
 17.11 # line
 17.12 tag+end
18 Building Urbi SDK
 18.1 Requirements
  18.1.1 Bootstrap
  18.1.2 Build
  18.1.3 Check
 18.2 Check out
 18.3 Bootstrap
 18.4 Configure
  18.4.1 configuration options
  18.4.2 Windows: Cygwin
  18.4.3 Building For Windows
  18.4.4 Building for Windows using Cygwin
 18.5 Compile
 18.6 Install
 18.7 Relocatable
 18.8 Run
 18.9 Check
  18.9.1 Lazy test suites
  18.9.2 Partial test suite runs
IV  Urbi SDK Reference Manual
19 Programs
 19.1 Environment Variables
  19.1.1 Search Path Variables
  19.1.2 Environment Variables
 19.2 Special Files
 19.3 urbi — Running an Urbi Server
  19.3.1 Options
  19.3.2 Quitting
 19.4 urbi-image — Querying Images from a Server
  19.4.1 Options
 19.5 urbi-launch — Running a UObject
  19.5.1 Invoking urbi-launch
  19.5.2 Examples
 19.6 urbi-ping — Checking the Delays with a Server
  19.6.1 Options
 19.7 urbi-send — Sending urbiscript Commands to a Server
 19.8 umake — Compiling UObject Components
  19.8.1 Invoking umake
  19.8.2 umake Wrappers
20 urbiscript Language Reference Manual
 20.1 Syntax
  20.1.1 Characters, encoding
  20.1.2 Comments
  20.1.3 Synclines
  20.1.4 Identifiers
  20.1.5 Keywords
  20.1.6 Literals
   20.1.6.1 Angles
   20.1.6.2 Dictionaries
   20.1.6.3 Durations
   20.1.6.4 Floats
   20.1.6.5 Lists
   20.1.6.6 Strings
   20.1.6.7 Tuples
   20.1.6.8 Pseudo classes
  20.1.7 Statement Separators
   20.1.7.1 ;
   20.1.7.2 ,
   20.1.7.3 |
   20.1.7.4 &
  20.1.8 Operators
   20.1.8.1 Arithmetic operators
   20.1.8.2 Assignment operators
   20.1.8.3 Postfix Operators
   20.1.8.4 Bitwise operators
   20.1.8.5 Logical operators
   20.1.8.6 Comparison operators
   20.1.8.7 Container operators
   20.1.8.8 Object operators
   20.1.8.9 All operators summary
 20.2 Scopes and local variables
  20.2.1 Scopes
  20.2.2 Local variables
 20.3 Functions
  20.3.1 Function Definition
  20.3.2 Arguments
  20.3.3 Return value
  20.3.4 Call messages
  20.3.5 Strictness
  20.3.6 Lexical closures
  20.3.7 Variadic functions
 20.4 Objects
  20.4.1 Slots
   20.4.1.1 Manipulation
   20.4.1.2 Syntactic Sugar
  20.4.2 Properties
   20.4.2.1 Manipulation
   20.4.2.2 Standard Properties
  20.4.3 Prototypes
   20.4.3.1 Manipulation
   20.4.3.2 Inheritance
   20.4.3.3 Copy on write
  20.4.4 Sending messages
 20.5 Enumeration types
 20.6 Structural Pattern Matching
  20.6.1 Basic Pattern Matching
  20.6.2 Variable
  20.6.3 Guard
 20.7 Imperative flow control
  20.7.1 break
  20.7.2 continue
  20.7.3 do
  20.7.4 if
  20.7.5 for
   20.7.5.1 C-like for
   20.7.5.2 Range-for
   20.7.5.3 for n-times
  20.7.6 if
  20.7.7 loop
  20.7.8 switch
  20.7.9 while
   20.7.9.1 while;
   20.7.9.2 while—
 20.8 Exceptions
  20.8.1 Throwing exceptions
  20.8.2 Catching exceptions
  20.8.3 Inspecting exceptions
  20.8.4 Finally
   20.8.4.1 Regular execution
   20.8.4.2 Control-flow
   20.8.4.3 Exceptions
 20.9 Assertions
  20.9.1 Asserting an Expression
  20.9.2 Assertion Blocks
 20.10 Parallel and event-based flow control
  20.10.1 at
   20.10.1.1 at on Events
   20.10.1.2 at on Boolean Expressions
   20.10.1.3 Scoping at at
  20.10.2 every
   20.10.2.1 every|
   20.10.2.2 every,
  20.10.3 for
   20.10.3.1 C-for,
   20.10.3.2 range-for& (:)
   20.10.3.3 for& (n)
  20.10.4 loop,
  20.10.5 waituntil
   20.10.5.1 waituntil on Events
   20.10.5.2 waituntil on Boolean Expressions
  20.10.6 whenever
   20.10.6.1 whenever on Events
   20.10.6.2 whenever on Boolean Expressions
  20.10.7 While
   20.10.7.1 while,
 20.11 Trajectories
 20.12 Garbage collection and limitations
21 urbiscript Standard Library
 21.1 Barrier
  21.1.1 Prototypes
  21.1.2 Construction
  21.1.3 Slots
 21.2 Binary
  21.2.1 Prototypes
  21.2.2 Construction
  21.2.3 Slots
 21.3 Boolean
  21.3.1 Prototypes
  21.3.2 Construction
  21.3.3 Truth Values
  21.3.4 Slots
 21.4 CallMessage
  21.4.1 Examples
   21.4.1.1 Evaluating an argument several times
   21.4.1.2 Strict Functions
  21.4.2 Slots
 21.5 Channel
  21.5.1 Prototypes
  21.5.2 Construction
  21.5.3 Slots
 21.6 Code
  21.6.1 Prototypes
  21.6.2 Construction
  21.6.3 Slots
 21.7 Comparable
  21.7.1 Slots
 21.8 Container
  21.8.1 Prototypes
  21.8.2 Slots
 21.9 Control
  21.9.1 Prototypes
  21.9.2 Slots
 21.10 Date
  21.10.1 Prototypes
  21.10.2 Construction
  21.10.3 Slots
 21.11 Dictionary
  21.11.1 Example
  21.11.2 Hash values
  21.11.3 Prototypes
  21.11.4 Construction
  21.11.5 Slots
 21.12 Directory
  21.12.1 Prototypes
  21.12.2 Construction
  21.12.3 Slots
 21.13 Duration
  21.13.1 Prototypes
  21.13.2 Construction
  21.13.3 Slots
 21.14 Enumeration
  21.14.1 Prototypes
  21.14.2 Examples
  21.14.3 Construction
  21.14.4 Slots
 21.15 Event
  21.15.1 Prototypes
  21.15.2 Examples
  21.15.3 Construction
  21.15.4 Slots
 21.16 Exception
  21.16.1 Prototypes
  21.16.2 Construction
  21.16.3 Slots
  21.16.4 Specific Exceptions
 21.17 Executable
  21.17.1 Prototypes
  21.17.2 Construction
  21.17.3 Slots
 21.18 File
  21.18.1 Prototypes
  21.18.2 Construction
  21.18.3 Slots
 21.19 Finalizable
  21.19.1 Example
  21.19.2 Prototypes
  21.19.3 Construction
  21.19.4 Slots
 21.20 Float
  21.20.1 Prototypes
  21.20.2 Construction
  21.20.3 Slots
 21.21 Float.limits
  21.21.1 Slots
 21.22 FormatInfo
  21.22.1 Prototypes
  21.22.2 Construction
  21.22.3 Slots
 21.23 Formatter
  21.23.1 Prototypes
  21.23.2 Construction
  21.23.3 Slots
 21.24 Global
  21.24.1 Prototypes
  21.24.2 Slots
 21.25 Group
  21.25.1 Example
  21.25.2 Prototypes
  21.25.3 Construction
  21.25.4 Slots
 21.26 Hash
  21.26.1 Prototypes
  21.26.2 Construction
  21.26.3 Slots
 21.27 InputStream
  21.27.1 Prototypes
  21.27.2 Construction
  21.27.3 Slots
 21.28 IoService
  21.28.1 Example
  21.28.2 Prototypes
  21.28.3 Construction
  21.28.4 Slots
 21.29 Job
  21.29.1 Prototypes
  21.29.2 Construction
  21.29.3 Slots
 21.30 Kernel1
  21.30.1 Prototypes
  21.30.2 Construction
  21.30.3 Slots
 21.31 Lazy
  21.31.1 Examples
   21.31.1.1 Evaluating once
   21.31.1.2 Evaluating several times
  21.31.2 Caching
  21.31.3 Prototypes
  21.31.4 Construction
  21.31.5 Slots
 21.32 List
  21.32.1 Prototypes
  21.32.2 Examples
  21.32.3 Construction
  21.32.4 Slots
 21.33 Loadable
  21.33.1 Prototypes
  21.33.2 Example
  21.33.3 Construction
  21.33.4 Slots
 21.34 Lobby
  21.34.1 Prototypes
  21.34.2 Construction
  21.34.3 Examples
  21.34.4 Slots
 21.35 Location
  21.35.1 Prototypes
  21.35.2 Construction
  21.35.3 Slots
 21.36 Math
  21.36.1 Prototypes
  21.36.2 Construction
  21.36.3 Slots
 21.37 Mutex
  21.37.1 Prototypes
  21.37.2 Construction
  21.37.3 Slots
 21.38 nil
  21.38.1 Prototypes
  21.38.2 Construction
  21.38.3 Slots
 21.39 Object
  21.39.1 Prototypes
  21.39.2 Construction
  21.39.3 Slots
 21.40 Orderable
 21.41 OutputStream
  21.41.1 Prototypes
  21.41.2 Construction
  21.41.3 Slots
 21.42 Pair
  21.42.1 Prototype
  21.42.2 Construction
  21.42.3 Slots
 21.43 Path
  21.43.1 Prototypes
  21.43.2 Construction
  21.43.3 Slots
 21.44 Pattern
  21.44.1 Prototypes
  21.44.2 Construction
  21.44.3 Slots
 21.45 Position
  21.45.1 Prototypes
  21.45.2 Construction
  21.45.3 Slots
 21.46 Primitive
  21.46.1 Prototypes
  21.46.2 Construction
  21.46.3 Slots
 21.47 Process
  21.47.1 Prototypes
  21.47.2 Example
  21.47.3 Construction
  21.47.4 Slots
 21.48 Profiling
  21.48.1 Prototypes
  21.48.2 Construction
 21.49 PseudoLazy
 21.50 PubSub
  21.50.1 Prototypes
  21.50.2 Construction
  21.50.3 Slots
 21.51 PubSub.Subscriber
  21.51.1 Prototypes
  21.51.2 Construction
  21.51.3 Slots
 21.52 RangeIterable
  21.52.1 Prototypes
  21.52.2 Slots
 21.53 Regexp
  21.53.1 Prototypes
  21.53.2 Construction
  21.53.3 Slots
 21.54 StackFrame
  21.54.1 Construction
  21.54.2 Slots
 21.55 Semaphore
  21.55.1 Prototypes
  21.55.2 Construction
  21.55.3 Slots
 21.56 Server
  21.56.1 Prototypes
  21.56.2 Construction
  21.56.3 Slots
 21.57 Singleton
  21.57.1 Prototypes
  21.57.2 Construction
  21.57.3 Slots
 21.58 Socket
  21.58.1 Example
  21.58.2 Prototypes
  21.58.3 Construction
  21.58.4 Slots
 21.59 String
  21.59.1 Prototypes
  21.59.2 Construction
  21.59.3 Slots
 21.60 System
  21.60.1 Prototypes
  21.60.2 Slots
 21.61 System.PackageInfo
  21.61.1 Prototypes
  21.61.2 Slots
 21.62 System.Platform
  21.62.1 Prototypes
  21.62.2 Slots
 21.63 Tag
  21.63.1 Examples
   21.63.1.1 Stop
   21.63.1.2 Block/unblock
   21.63.1.3 Freeze/unfreeze
   21.63.1.4 Scope tags
   21.63.1.5 Enter/leave events
   21.63.1.6 Begin/end
  21.63.2 Construction
  21.63.3 Slots
  21.63.4 Hierarchical tags
 21.64 Timeout
  21.64.1 Prototypes
  21.64.2 Construction
  21.64.3 Examples
  21.64.4 Slots
 21.65 Traceable
  21.65.1 Slots
 21.66 TrajectoryGenerator
  21.66.1 Prototypes
  21.66.2 Examples
   21.66.2.1 Accel
   21.66.2.2 Cos
   21.66.2.3 Sin
   21.66.2.4 Smooth
   21.66.2.5 Speed
   21.66.2.6 Time
   21.66.2.7 Trajectories and Tags
  21.66.3 Construction
  21.66.4 Slots
 21.67 Triplet
  21.67.1 Prototype
  21.67.2 Construction
  21.67.3 Slots
 21.68 Tuple
  21.68.1 Prototype
  21.68.2 Construction
  21.68.3 Slots
 21.69 UObject
  21.69.1 Prototypes
  21.69.2 Slots
 21.70 UValue
 21.71 UVar
  21.71.1 Construction
  21.71.2 Prototypes
  21.71.3 Slots
 21.72 void
  21.72.1 Prototypes
  21.72.2 Construction
  21.72.3 Slots
22 Communication with ROS
 22.1 Ros
  22.1.1 Construction
  22.1.2 Slots
 22.2 Ros.Topic
  22.2.1 Construction
  22.2.2 Slots
   22.2.2.1 Common
   22.2.2.2 Subscription
   22.2.2.3 Advertising
  22.2.3 Example
 22.3 Ros.Service
  22.3.1 Construction
  22.3.2 Slots
23 Gostai Standard Robotics API
 23.1 The Structure Tree
 23.2 Frame of Reference
 23.3 Component naming
 23.4 Localization
 23.5 Interface
  23.5.1 Identity
  23.5.2 Network
  23.5.3 Motor
  23.5.4 LinearMotor (subclass of Motor)
  23.5.5 LinearSpeedMotor (subclass of Motor)
  23.5.6 RotationalMotor (subclass of Motor)
  23.5.7 RotationalSpeedMotor (subclass of Motor)
  23.5.8 Sensor
  23.5.9 DistanceSensor (subclass of Sensor)
  23.5.10 TouchSensor (subclass of Sensor)
  23.5.11 AccelerationSensor (subclass of Sensor)
  23.5.12 GyroSensor (subclass of Sensor)
  23.5.13 TemperatureSensor (subclass of Sensor)
  23.5.14 Laser (subclass of Sensor)
  23.5.15 Mobile
   23.5.15.1 Blocking API
   23.5.15.2 Speed-control API
   23.5.15.3 Safety
   23.5.15.4 State
  23.5.16 Tracker
  23.5.17 VideoIn
  23.5.18 AudioOut
  23.5.19 AudioIn
  23.5.20 BlobDetector
  23.5.21 TextToSpeech
  23.5.22 SpeechRecognizer
  23.5.23 Led
  23.5.24 RGBLed (subclass of Led)
  23.5.25 Battery
 23.6 Standard Components
  23.6.1 Yaw/Pitch/Roll orientation
  23.6.2 Standard Component List
 23.7 Compact notation
 23.8 Support classes
  23.8.1 Interface
  23.8.2 Component
  23.8.3 Localizer
V  Urbi Platforms
24 Bioloid
 24.1 Introduction
 24.2 Installing Urbi for Bioloid
  24.2.1 Flashing the firmware
  24.2.2 Getting Urbi and Urbi for Bioloid
 24.3 First steps
  24.3.1 Starting up
  24.3.2 Motor features
  24.3.3 Sensor features
25 Mindstorms NXT
 25.1 Launching Urbi for Mindstorms NXT
 25.2 First steps with Urbi to control Mindstorms NXT
  25.2.1 Make basic movements
  25.2.2 Improving the movements
  25.2.3 Reading sensors
  25.2.4 Tagging commands
  25.2.5 Playing sounds
  25.2.6 Cyclic moves
  25.2.7 Parallelism
  25.2.8 Using functions
  25.2.9 Loading files
  25.2.10 Conclusion
 25.3 Default layout reference
  25.3.1 Motors
  25.3.2 Sensors
   25.3.2.1 Bumper
   25.3.2.2 Sonar
   25.3.2.3 Decibel
   25.3.2.4 Light
  25.3.3 Battery
  25.3.4 Beeper
  25.3.5 Command
 25.4 How to make its own layout
  25.4.1 Instancing Motors
  25.4.2 Instancing sensors
  25.4.3 Other devices
 25.5 Available UObject Devices
  25.5.1 Servo
  25.5.2 UltraSonicSensor
  25.5.3 SoundSensor
  25.5.4 LightSensor
  25.5.5 Switch
  25.5.6 Battery
  25.5.7 Beeper
  25.5.8 Command
  25.5.9 Instances
  25.5.10 Groups
26 Nao
 26.1 Introduction
 26.2 Starting up
 26.3 Accessing joints
  26.3.1 Advanced parameters
   26.3.1.1 Trajectory generator period
   26.3.1.2 Motor back-end method
   26.3.1.3 Motor command debugging
 26.4 Leds
 26.5 Camera
  26.5.1 Slots
 26.6 Whole body motion
 26.7 Other sensors
 26.8 Interfacing with NaoQi
  26.8.1 Accessing the NaoQi shared memory region
  26.8.2 Accessing standard NaoQi modules
  26.8.3 Binding new NaoQi modules in Urbi
  26.8.4 Writing NaoQi modules in Urbi
27 Pioneer 3-DX
 27.1 Getting started
 27.2 How to use Pioneer 3-DX robot
  27.2.1 P3dx
  27.2.2 P3dx.body
  27.2.3 P3dx.body.odometry
  27.2.4 P3dx.body.sonar
  27.2.5 P3dx.body.laser
  27.2.6 P3dx.body.camera
  27.2.7 P3dx.body.x
  27.2.8 P3dx.body.yaw
  27.2.9 P3dx.planner
  27.2.10 P3dx.body.battery
 27.3 Mobility modes
 27.4 About units
28 Segway RMP
 28.1 RMP
  28.1.1 Instantiation
  28.1.2 Slots
 28.2 GSRAPI compliance
29 Spykee
 29.1 Installing Urbi on the Spykee
 29.2 Device list
 29.3 Dynamically loaded modules
  29.3.1 Clapper
30 Webots
 30.1 Setup
  30.1.1 Installation
   30.1.1.1 Linux
   30.1.1.2 Mac OS X
   30.1.1.3 Windows
  30.1.2 License
   30.1.2.1 Evaluation mode
   30.1.2.2 Setting up a license
 30.2 Using Urbi as a controller in your Webots worlds
  30.2.1 Using the default urbi-2.0 controller
  30.2.2 Defining custom Urbi controllers
 30.3 Binding your own robots with Urbi for Webots
 30.4 Built-in robots and worlds
 30.5 Webots UObjects
  30.5.1 Robot devices UObjects
   30.5.1.1 Accelerometer
   30.5.1.2 Camera
   30.5.1.3 Differential Wheels
   30.5.1.4 Distance Sensor
   30.5.1.5 Led
   30.5.1.6 Servo
   30.5.1.7 Touch Sensor
  30.5.2 Supervisor API UObjects
   30.5.2.1 Label
   30.5.2.2 Manipulate Node
   30.5.2.3 Simulation Controller
VI  Tables and Indexes
31 Notations
 31.1 Words
 31.2 Frames
  31.2.1 Shell Sessions
  31.2.2 urbiscript Sessions
  31.2.3 urbiscript Assertions
  31.2.4 C ++ Code
32 Release Notes
 32.1 Urbi SDK 2.6
  32.1.1 Fixes
  32.1.2 Optimizations
  32.1.3 New Features
  32.1.4 Documentation
 32.2 Urbi SDK 2.5
  32.2.1 Fixes
  32.2.2 New Features
  32.2.3 Changes
  32.2.4 Documentation
 32.3 Urbi SDK 2.4
  32.3.1 Fixes
  32.3.2 New Features
  32.3.3 Documentation
 32.4 Urbi SDK 2.3
  32.4.1 Fixes
  32.4.2 New Features
 32.5 Urbi SDK 2.2
  32.5.1 Fixes
  32.5.2 New Features
  32.5.3 Documentation
 32.6 Urbi SDK 2.1
  32.6.1 Fixes
  32.6.2 New Features
  32.6.3 Optimization
  32.6.4 Documentation
 32.7 Urbi SDK 2.0.3
  32.7.1 New Features
  32.7.2 Fixes
  32.7.3 Documentation
 32.8 Urbi SDK 2.0.2
  32.8.1 urbiscript
  32.8.2 Fixes
  32.8.3 Documentation
 32.9 Urbi SDK 2.0.1
  32.9.1 urbiscript
  32.9.2 Documentation
  32.9.3 Fixes
 32.10 Urbi SDK 2.0
  32.10.1 urbiscript
   32.10.1.1 Changes
   32.10.1.2 New features
  32.10.2 UObjects
  32.10.3 Documentation
 32.11 Urbi SDK 2.0 RC 4
  32.11.1 urbiscript
   32.11.1.1 Changes
   32.11.1.2 New objects
   32.11.1.3 New features
  32.11.2 UObjects
 32.12 Urbi SDK 2.0 RC 3
  32.12.1 urbiscript
   32.12.1.1 Fixes
   32.12.1.2 Changes
  32.12.2 Documentation
 32.13 Urbi SDK 2.0 RC 2
  32.13.1 Optimization
  32.13.2 urbiscript
   32.13.2.1 New constructs
   32.13.2.2 New objects
   32.13.2.3 New features
   32.13.2.4 Fixes
   32.13.2.5 Deprecations
   32.13.2.6 Changes
  32.13.3 UObjects
  32.13.4 Documentation
  32.13.5 Various
 32.14 Urbi SDK 2.0 RC 1
  32.14.1 Auxiliary programs
  32.14.2 urbiscript
   32.14.2.1 Syntax of events
   32.14.2.2 Changes
   32.14.2.3 Fixes
  32.14.3 URBI Remote SDK
  32.14.4 Documentation
 32.15 Urbi SDK 2.0 beta 4
  32.15.1 Documentation
  32.15.2 urbiscript
   32.15.2.1 Bug fixes
   32.15.2.2 Changes
  32.15.3 Programs
   32.15.3.1 Environment variables
   32.15.3.2 Scripting
   32.15.3.3 urbi-console
   32.15.3.4 Auxiliary programs
 32.16 Urbi SDK 2.0 beta 3
  32.16.1 Documentation
  32.16.2 urbiscript
   32.16.2.1 Fixes
   32.16.2.2 Changes
  32.16.3 UObjects
  32.16.4 Auxiliary programs
 32.17 Urbi SDK 2.0 beta 2
  32.17.1 urbiscript
  32.17.2 Standard library
  32.17.3 UObjects
  32.17.4 Run-time
  32.17.5 Bug fixes
  32.17.6 Auxiliary programs
33 Licenses
 33.1 BSD License
 33.2 Expat License
 33.3 Independent JPEG Group’s Software License
 33.4 Libcoroutine License
 33.5 OpenSSL License
 33.6 Urbi Open Source Contributor Agreement
34 Glossary