Part I
Urbi and UObjects User Manual

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