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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
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<title>SLAMTEC Aurora Public Remote SDK: SDK Setup and Usage</title>
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 <span id="projectnumber">1.1.0-rc2</span>
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<div class="title">SDK Setup and Usage </div> </div>
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<div class="contents">
<div class="textblock"><p>This document covers the API description of SLAMTEC Aurora Remote C/C++ SDK.</p>
<h2><a class="anchor" id="autotoc_md0"></a>
About the SDK</h2>
<p>The SDK contains the following components:</p><ul>
<li>header files for the SDK API</li>
<li>pre-compiled dynamic libraries for the SDK targets various operating systems and architectures</li>
</ul>
<p>The headers provide interfaces and data types definitions written in C++ 14 and C.</p>
<p>In order to use the SDK, you need to include the header files and link against the pre-compiled dynamic libraries.</p>
<h2><a class="anchor" id="autotoc_md1"></a>
Supported Platforms</h2>
<p>The SDK supports the following platforms:</p><ul>
<li>Linux : x86_64, arm64(aarch64)</li>
<li>Windows (x86_64)</li>
</ul>
<p>More platforms will be supported in the future. If you need other platforms, please contact SLAMTEC.</p>
<h2><a class="anchor" id="autotoc_md2"></a>
Getting Started</h2>
<h3><a class="anchor" id="autotoc_md3"></a>
Use SDK Demo Project</h3>
<p>There is a <a href="https://github.com/Slamtec/aurora_remote_sdk_demo">SDK Demo project</a> for you to get started quickly. We are highly recommended you to use the demo project to understand how to use the SDK.</p>
<h3><a class="anchor" id="autotoc_md4"></a>
Prerequisites</h3>
<ul>
<li><p class="startli">C++ 14 compiler</p>
<p class="startli">The C++ sdk requires a C++ compiler that supports C++ 14 standard. For example, GCC 7.5 or above, or MSVC 2019 or above.</p>
</li>
<li><p class="startli">C compiler</p>
<p class="startli">The C sdk requires a C compiler that supports C99 standard.</p>
</li>
<li><p class="startli">Windows specific</p>
<p class="startli">There is no specific requirement for what MSVC compiler version to use the SDK, any version that supports C++ 14 and C99 standard will be fine.</p>
<p class="startli">But as the pre-compiled dynamic libraries are built with MSVC 17 (VS2022) using /MD option. <b>You should download related VC runtime libraries first to make the SDK work</b>, or simply install the Visual Studio 2022. The VC runtime libraries can be downloaded from <a href="https://learn.microsoft.com/en-us/cpp/windows/latest-supported-vc-redist?view=msvc-170">here</a>.</p>
</li>
</ul>
<h3><a class="anchor" id="autotoc_md5"></a>
Setup the include path</h3>
<p>Please add the path that contains the file <code><a class="el" href="aurora__pubsdk__inc_8h_source.html">aurora_pubsdk_inc.h</a></code> to your compiler's include path.</p>
<p>For example, if you are using GCC, you can add the following command to your compiler command line:</p>
<div class="fragment"><div class="line">-I/path/to/aurora/public_remote_sdk/inc</div>
</div><!-- fragment --><h3><a class="anchor" id="autotoc_md6"></a>
Setup the library path and link the libraries</h3>
<h4><a class="anchor" id="autotoc_md7"></a>
Add the path that contains the pre-compiled dynamic libraries to your compiler's library path.</h4>
<p>Please note that the library path is different for different platforms.</p>
<p>For example, if you are using GCC on a x86_64 Linux machine, you can add the following command to your compiler command line:</p>
<div class="fragment"><div class="line">-L/path/to/aurora/public_remote_sdk/lib/linux_x64</div>
</div><!-- fragment --><h4><a class="anchor" id="autotoc_md8"></a>
Link the pre-compiled dynamic libraries to your project.</h4>
<p>The pre-compiled dynamic libraries are named as <code>libslamtec_aurora_remote_sdk.so</code> for Linux, and <code>AuroraPubSDK_C.dll</code> and <code>slamtec_aurora_remote_sdk.dll</code> and <code>slamtec_aurora_remote_sdk.lib</code> for Windows.</p>
<p>For example, if you are using GCC on a x86_64 Linux machine, you can add the following command to your compiler command line:</p>
<div class="fragment"><div class="line">-lslamtec_aurora_remote_sdk</div>
</div><!-- fragment --><p>You should add the static library <code>slamtec_aurora_remote_sdk.lib</code> to your project if you are using MSVC on Windows.</p>
<h3><a class="anchor" id="autotoc_md9"></a>
Deployment</h3>
<p>The pre-compiled dynamic libraries only depends on the C++ standard library, so you don't need to deploy any other dependencies.</p>
<p>But make sure to deploy the related VC runtime libraries if you are using MSVC on Windows.</p>
<h2><a class="anchor" id="autotoc_md10"></a>
Basic Usage</h2>
<p>Here is a simple example to show how to use the SDK to connect to a SLAMTEC Aurora device and get the device pose.</p>
<p>Please refer to the <a href="https://github.com/Slamtec/aurora_remote_sdk_demo">SDK Demo project</a> for more examples.</p>
<div class="fragment"><div class="line"><span class="comment">// include the SDK header file, both C and C++ </span></div>
<div class="line"><span class="preprocessor">#include "aurora_pubsdk_inc.h"</span> </div>
<div class="line"> </div>
<div class="line"><span class="comment">// other dependencies</span></div>
<div class="line"><span class="preprocessor">#include <iostream></span></div>
<div class="line"> </div>
<div class="line"><span class="comment">// the namespace of the SDK</span></div>
<div class="line"><span class="keyword">using namespace </span>rp::standalone::aurora;</div>
<div class="line"> </div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span>** argv) {</div>
<div class="line"> <span class="comment">// the sdk session should be created before using any other APIs, except for GetSDKInfo</span></div>
<div class="line"> <a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html">RemoteSDK</a> * sdk = <a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#add24b49259dbd7cdd966123a6aaf6612">RemoteSDK::CreateSession</a>();</div>
<div class="line"> </div>
<div class="line"> <span class="comment">// connect to the device, the default device ip address is "192.168.11.1" </span></div>
<div class="line"> <span class="comment">// Alternatively, you can use the sdk->getDiscoveredServers() to automatically discover the device ip address</span></div>
<div class="line"> <span class="keywordtype">bool</span> ret = sdk-><a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#acb097eee14de72396965fb0cf59fa0da">connect</a>({<span class="stringliteral">"192.168.11.1"</span>});</div>
<div class="line"> </div>
<div class="line"> <span class="keywordflow">if</span> (!ret) {</div>
<div class="line"> std::cerr << <span class="stringliteral">"Failed to connect to the device"</span> << std::endl;</div>
<div class="line"> <span class="keywordflow">return</span> -1;</div>
<div class="line"> }</div>
<div class="line"> </div>
<div class="line"> </div>
<div class="line"> <span class="comment">// get the device pose</span></div>
<div class="line"> <a class="code" href="struct__slamtec__aurora__sdk__pose__t.html">slamtec_aurora_sdk_pose_t</a> pose;</div>
<div class="line"> </div>
<div class="line"> <span class="comment">// Note: it is recommended to get Pose in SE3 format (getCurrentPoseSE3), which is more accurate</span></div>
<div class="line"> <span class="comment">// The following function get pose in euler angle format, which may have gimbal lock issue</span></div>
<div class="line"> <span class="keywordflow">if</span> (!sdk-><a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#a3e8f1471eefd0414c84ced62b4fe8897">dataProvider</a>.<a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteDataProvider.html#aa3cdc0bfad27d6c882efb5b89d642bbd">getCurrentPose</a>(pose)) {</div>
<div class="line"> std::cerr << <span class="stringliteral">"Failed to get the device pose"</span> << std::endl;</div>
<div class="line"> <span class="keywordflow">return</span> -1;</div>
<div class="line"> }</div>
<div class="line"> </div>
<div class="line"> std::cout << <span class="stringliteral">"Current pose: "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#ab866f8843457e74751a63a848520658d">translation</a>.<a class="code" href="struct__slamtec__aurora__sdk__position3d__t.html#af5cdbed2cc397d2419f3de2f0b77115d">x</a> << <span class="stringliteral">", "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#ab866f8843457e74751a63a848520658d">translation</a>.<a class="code" href="struct__slamtec__aurora__sdk__position3d__t.html#a0d1122cf7866e5010ee5722efb7f572f">y</a> << <span class="stringliteral">", "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#ab866f8843457e74751a63a848520658d">translation</a>.<a class="code" href="struct__slamtec__aurora__sdk__position3d__t.html#ad39c0e23f6622b4aad9164c4bbe98c62">z</a></div>
<div class="line"> << <span class="stringliteral">" Euler: "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#af13da7e73e79a69d43202dc4cf6ba7f2">rpy</a>.<a class="code" href="struct__slamtec__aurora__sdk__euler__angle__t.html#a69591a2fa8546bf5c017997b99621fcf">roll</a> << <span class="stringliteral">", "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#af13da7e73e79a69d43202dc4cf6ba7f2">rpy</a>.<a class="code" href="struct__slamtec__aurora__sdk__euler__angle__t.html#a914b9a9a777f9b6aba641470dbed692c">pitch</a> << <span class="stringliteral">", "</span> << pose.<a class="code" href="struct__slamtec__aurora__sdk__pose__t.html#af13da7e73e79a69d43202dc4cf6ba7f2">rpy</a>.<a class="code" href="struct__slamtec__aurora__sdk__euler__angle__t.html#af2453a359f36abff57ff56b5cd31f7cc">yaw</a> << std::endl;</div>
<div class="line"> </div>
<div class="line"> <span class="comment">// the sdk session should be destroyed before the program exits</span></div>
<div class="line"> <a class="code" href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#a5f101854c9aad15b62ff1a51daa3d19e">RemoteSDK::DestroySession</a>(sdk);</div>
<div class="line"> <span class="comment">// alternatively, you can use the release() method to release the sdk session</span></div>
<div class="line"> <span class="comment">// sdk->release();</span></div>
<div class="line"> <span class="keywordflow">return</span> 0;</div>
<div class="line">}</div>
</div><!-- fragment --> </div></div><!-- PageDoc -->
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<div class="ttc" id="astruct__slamtec__aurora__sdk__position3d__t_html_af5cdbed2cc397d2419f3de2f0b77115d"><div class="ttname"><a href="struct__slamtec__aurora__sdk__position3d__t.html#af5cdbed2cc397d2419f3de2f0b77115d">_slamtec_aurora_sdk_position3d_t::x</a></div><div class="ttdeci">double x</div><div class="ttdoc">The x coordinate.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:265</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__euler__angle__t_html_af2453a359f36abff57ff56b5cd31f7cc"><div class="ttname"><a href="struct__slamtec__aurora__sdk__euler__angle__t.html#af2453a359f36abff57ff56b5cd31f7cc">_slamtec_aurora_sdk_euler_angle_t::yaw</a></div><div class="ttdeci">double yaw</div><div class="ttdoc">The yaw angle.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:326</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteSDK_html_acb097eee14de72396965fb0cf59fa0da"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#acb097eee14de72396965fb0cf59fa0da">rp::standalone::aurora::RemoteSDK::connect</a></div><div class="ttdeci">bool connect(const SDKServerConnectionDesc &serverDesc, slamtec_aurora_sdk_errorcode_t *errCode=nullptr)</div><div class="ttdoc">Connect to a server.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:927</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteSDK_html_a5f101854c9aad15b62ff1a51daa3d19e"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#a5f101854c9aad15b62ff1a51daa3d19e">rp::standalone::aurora::RemoteSDK::DestroySession</a></div><div class="ttdeci">static void DestroySession(RemoteSDK *session)</div><div class="ttdoc">Destroy a session.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:903</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__pose__t_html_ab866f8843457e74751a63a848520658d"><div class="ttname"><a href="struct__slamtec__aurora__sdk__pose__t.html#ab866f8843457e74751a63a848520658d">_slamtec_aurora_sdk_pose_t::translation</a></div><div class="ttdeci">slamtec_aurora_sdk_position3d_t translation</div><div class="ttdoc">The translation of the pose.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:357</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__position3d__t_html_a0d1122cf7866e5010ee5722efb7f572f"><div class="ttname"><a href="struct__slamtec__aurora__sdk__position3d__t.html#a0d1122cf7866e5010ee5722efb7f572f">_slamtec_aurora_sdk_position3d_t::y</a></div><div class="ttdeci">double y</div><div class="ttdoc">The y coordinate.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:270</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteSDK_html_a3e8f1471eefd0414c84ced62b4fe8897"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#a3e8f1471eefd0414c84ced62b4fe8897">rp::standalone::aurora::RemoteSDK::dataProvider</a></div><div class="ttdeci">RemoteDataProvider dataProvider</div><div class="ttdoc">The data provider class object.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:981</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteSDK_html"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html">rp::standalone::aurora::RemoteSDK</a></div><div class="ttdoc">The main class for the remote SDK.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:856</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__position3d__t_html_ad39c0e23f6622b4aad9164c4bbe98c62"><div class="ttname"><a href="struct__slamtec__aurora__sdk__position3d__t.html#ad39c0e23f6622b4aad9164c4bbe98c62">_slamtec_aurora_sdk_position3d_t::z</a></div><div class="ttdeci">double z</div><div class="ttdoc">The z coordinate.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:275</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__pose__t_html"><div class="ttname"><a href="struct__slamtec__aurora__sdk__pose__t.html">_slamtec_aurora_sdk_pose_t</a></div><div class="ttdoc">The pose structure using translation and Euler angle.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:352</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__pose__t_html_af13da7e73e79a69d43202dc4cf6ba7f2"><div class="ttname"><a href="struct__slamtec__aurora__sdk__pose__t.html#af13da7e73e79a69d43202dc4cf6ba7f2">_slamtec_aurora_sdk_pose_t::rpy</a></div><div class="ttdeci">slamtec_aurora_sdk_euler_angle_t rpy</div><div class="ttdoc">The Euler angle of the pose.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:362</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__euler__angle__t_html_a914b9a9a777f9b6aba641470dbed692c"><div class="ttname"><a href="struct__slamtec__aurora__sdk__euler__angle__t.html#a914b9a9a777f9b6aba641470dbed692c">_slamtec_aurora_sdk_euler_angle_t::pitch</a></div><div class="ttdeci">double pitch</div><div class="ttdoc">The pitch angle.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:321</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteDataProvider_html_aa3cdc0bfad27d6c882efb5b89d642bbd"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteDataProvider.html#aa3cdc0bfad27d6c882efb5b89d642bbd">rp::standalone::aurora::RemoteDataProvider::getCurrentPose</a></div><div class="ttdeci">bool getCurrentPose(slamtec_aurora_sdk_pose_t &poseOut, slamtec_aurora_sdk_errorcode_t *errcode=nullptr)</div><div class="ttdoc">Get the current device pose in Euler angles (Roll-Pitch-Yaw RPY order) format.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:611</div></div>
<div class="ttc" id="astruct__slamtec__aurora__sdk__euler__angle__t_html_a69591a2fa8546bf5c017997b99621fcf"><div class="ttname"><a href="struct__slamtec__aurora__sdk__euler__angle__t.html#a69591a2fa8546bf5c017997b99621fcf">_slamtec_aurora_sdk_euler_angle_t::roll</a></div><div class="ttdeci">double roll</div><div class="ttdoc">The roll angle.</div><div class="ttdef"><b>Definition:</b> aurora_pubsdk_objects.h:316</div></div>
<div class="ttc" id="aclassrp_1_1standalone_1_1aurora_1_1RemoteSDK_html_add24b49259dbd7cdd966123a6aaf6612"><div class="ttname"><a href="classrp_1_1standalone_1_1aurora_1_1RemoteSDK.html#add24b49259dbd7cdd966123a6aaf6612">rp::standalone::aurora::RemoteSDK::CreateSession</a></div><div class="ttdeci">static RemoteSDK * CreateSession(const RemoteSDKListener *listener=nullptr, const SDKConfig &config=SDKConfig(), slamtec_aurora_sdk_errorcode_t *error_code=nullptr)</div><div class="ttdoc">Create a session.</div><div class="ttdef"><b>Definition:</b> slamtec_remote_public.hxx:882</div></div>
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