1 Introduction
 1.1 Urbi and UObjects
 1.2 Urbi and urbiscript
 1.3 Genesis
 1.4 Outline
Contents
2 Getting Started
I  Urbi and UObjects User Manual
About This Part
3 The UObject API
 3.1 Compiling UObjects
 3.2 Creating a class, binding variables and functions
 3.3 Creating new instances
 3.4 Binding functions
 3.5 Notification of a variable change or access
 3.6 Data-flow based programming: exchanging UVars
 3.7 Timers
 3.8 The special case of sensor/effector variables
 3.9 Using Urbi variables
 3.10 Emitting events
 3.11 UObject and Threads
 3.12 Using binary types
 3.13 Using hubs to group objects
 3.14 Sending Urbi code
4 Use Cases
 4.1 Writing a Servomotor Device
 4.2 Using Hubs to Group Objects
 4.3 Writing a Camera Device
 4.4 Writing a Speaker or Microphone Device
 4.5 Writing a Softdevice: Ball Detection
II  urbiscript User Manual
About This Part
5 First Steps
 5.1 Comments
 5.2 Literal values
 5.3 Function calls
 5.4 Variables
 5.5 Scopes
 5.6 Method calls
 5.7 Function definition
 5.8 Conclusion
6 Basic Objects, Value Model
 6.1 Objects in urbiscript
 6.2 Methods
 6.3 Everything is an object
 6.4 The urbiscript values model
 6.5 Conclusion
7 Flow Control Constructs
 7.1 if
 7.2 while
 7.3 for
 7.4 switch
 7.5 do
8 Advanced Functions and Scoping
 8.1 Scopes as expressions
 8.2 Advanced scoping
 8.3 Local functions
 8.4 Lexical closures
9 Objective Programming, urbiscript Object Model
 9.1 Prototype-based programing in urbiscript
 9.2 Prototypes and slot lookup
 9.3 Copy on write
 9.4 Defining pseudo-classes
 9.5 Constructors
 9.6 Operators
10 Functional Programming
 10.1 First class functions
 10.2 Lambda functions
 10.3 Lazy arguments
11 Parallelism, Concurrent Flow Control
 11.1 Parallelism operators
 11.2 Detach
 11.3 Tags for parallel control flows
 11.4 Advanced example with parallelism and tags
12 Event-based Programming
 12.1 Event related constructs
 12.2 Events
13 Urbi for ROS Users
 13.1 Communication on topics
 13.2 Using Services
III  Guidelines and Cook Books
About This Part
14 Installation
 14.1 Download
 14.2 Install & Check
15 Frequently Asked Questions
 15.1 Build Issues
 15.2 Troubleshooting
 15.3 urbiscript
 15.4 UObjects
 15.5 Miscellaneous
16 Migration from urbiscript 1 to urbiscript 2
 16.1 $(Foo)
 16.2 delete Foo
 16.3 emit Foo
 16.4 eval(Foo)
 16.5 foreach
 16.6 group
 16.7 loopn
 16.8 new Foo
 16.9 self
 16.10 stop Foo
 16.11 # line
 16.12 tag+end
17 Building Urbi SDK
 17.1 Requirements
 17.2 Check out
 17.3 Bootstrap
 17.4 Configure
 17.5 Compile
 17.6 Install
 17.7 Relocatable
 17.8 Run
 17.9 Check
IV  Urbi SDK Reference Manual
About This Part
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
V  Tables and Indexes
About This Part
23 Notations
 23.1 Words
 23.2 Frames
24 Release Notes
 24.1 Urbi SDK 2.1
 24.2 Urbi SDK 2.0.3
 24.3 Urbi SDK 2.0.2
 24.4 Urbi SDK 2.0.1
 24.5 Urbi SDK 2.0
 24.6 Urbi SDK 2.0 RC 4
 24.7 Urbi SDK 2.0 RC 3
 24.8 Urbi SDK 2.0 RC 2
 24.9 Urbi SDK 2.0 RC 1
 24.10 Urbi SDK 2.0 beta 4
 24.11 Urbi SDK 2.0 beta 3
 24.12 Urbi SDK 2.0 beta 2
25 Licenses
 25.1 BSD License
 25.2 Expat License
 25.3 Independent JPEG Group’s Software License
 25.4 Libcoroutine License
 25.5 OpenSSL License
 25.6 Urbi Open Source Contributor Agreement
26 Glossary
Index