API Reference

The C++ API of Open Apero, generated from the headers by Doxygen and Breathe. Every class lives in namespace open_apero; most built-in plugins live in a sub-namespace named after their role (open_apero::evaluator, open_apero::path_planner, …). How Open Apero Works explains how the pieces fit together, and Extending Open Apero walks through writing a plugin.

I want to …	Start with
write a plugin	open_apero::Configurable, open_apero::Plugin, open_apero::PluginRegistry::Registration, then the role’s base class in Plugin Interfaces
connect a robot or simulator	open_apero::Agent (sendMovement(), setCurrentState()), open_apero::EdgeCursor, or the ready-made open_apero::ros::RosAgent
run the planner without ROS	open_apero::PluginFactoryConfig, open_apero::BenchmarkAgent
add a planner layer	open_apero::Layer
add a map backend	open_apero::Map, open_apero::map::OccupancyMap, open_apero::map::TsdfMap

• Agent
• Layers
• Plugin System
• Plugin Interfaces
• Built-in Plugins
• Map
• Data Types
• Logging and Metrics
• ROS Integration