C++
===========

Download and Installation
-------------------------

The C++ SDK is distributed as **pre-compiled binaries** for easy integration.

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   <div style="background-color: #f8f9fa; border: 2px solid #6c757d; border-radius: 0.375rem; padding: 1rem; margin: 1rem 0;">
   <p><strong>Supported platforms:</strong></p>
   <ul>
   <li><strong>Linux:</strong> x86_64 and aarch64</li>
   <li><strong>Windows:</strong> x86_64</li>
   <li><strong>macOS:</strong> arm64</li>
   </ul>
   <p><strong>Download:</strong> <a href="https://botasys.gitlab.io/control_toolkit/priv_bota_payload_utils/index.html" target="_blank">Get the binaries here</a></p>
   <p><strong>Installation:</strong> Copy the downloaded files to your C++ project and configure your build system</p>
   </div>

Usage Demo
---------------
.. _cpp_usage_examples:

We provide a demo to **get yourself started** with the C++ SDK.

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   <div style="background-color: #f8f9fa; border: 2px solid #6c757d; border-radius: 0.5rem; padding: 1.5rem; margin: 1.5rem 0; box-shadow: 0 2px 4px rgba(0,0,0,0.1);">
   <p style="margin-bottom: 1rem;"><strong>What you'll find in the demo:</strong></p>
   <ul style="margin-bottom: 1.5rem;">
   <li>Estimator and Compensator setup and configuration</li>
   <li>Real-time pipeline setup in C++</li>
   <li>Integration patterns and best practices</li>
   </ul>
   <div style="background-color: #ffffff; border: 1px solid #dee2e6; border-radius: 0.25rem; padding: 1rem; text-align: center;">
   <a href="https://gitlab.com/botasys/control_toolkit/bota_demo_cpp" target="_blank"
      style="font-weight: bold; font-size: 1.1em; color: #495057; text-decoration: none;">
      → C++ Demo Repository ←
   </a>
   </div>
   </div>


API description
------------------

Both classes are defined in the ``bota`` namespace and use a PIMPL pattern for implementation encapsulation.

BotaPayloadCompensator
^^^^^^^^^^^^^^^^^^^^^^

.. cpp:class:: bota::BotaPayloadCompensator

   Provides payload compensation functionality.

   .. cpp:function:: explicit BotaPayloadCompensator(const std::string& config_path)

      Initializes the compensator from a JSON configuration file.

   .. cpp:function:: ~BotaPayloadCompensator()

   .. cpp:function:: BotaControlReturnCode update(double timestamp, std::array<double, 12>& wrench_imu_raw, std::array<double, 12>& wrench_imu_compensated)

      Computes compensated output from raw input. Result is written into ``wrench_imu_compensated``.

   .. cpp:function:: bool tareCompensatedWrench()

      Zeros the compensated wrench output by computing and applying current offsets.

BotaPayloadEstimator
^^^^^^^^^^^^^^^^^^^^

.. cpp:class:: bota::BotaPayloadEstimator

   Provides payload estimation functionality.

   .. cpp:function:: explicit BotaPayloadEstimator(const std::string& config_path)

      Initializes the estimator from a JSON configuration file.

   .. cpp:function:: ~BotaPayloadEstimator()

   .. cpp:function:: BotaControlReturnCode update(double timestamp, std::array<double, 12> wrench_imu_raw)

      Feeds new raw data into the estimation algorithm.

   .. cpp:function:: bool startPayloadEstimation()

      Starts the payload estimation process.

   .. cpp:function:: bool isEstimatorRunning() const

      Returns ``true`` if estimation is currently in progress.

   .. cpp:function:: bool isEstimationSuccessful() const

      Returns ``true`` if the last estimation completed successfully.