Enpose API — C++ interface

A header-only C++ wrapper around the Enpose C API. It adds RAII, std::vector/std::string results, and exceptions, while reusing the C ABI underneath. The wrapper is declared in the SDK header enpose_api.hpp and links the same enpose_api shared library as the C interface.

Usage

#include "enpose_api.hpp"
 
for (const enpose::DeviceInfo& device : enpose::discover()) {
    if (!device.compatible) continue;
    enpose::PoseStream stream(device);          // threaded by default; RAII
    // receive(true) waits for a pose update (up to a 3-second timeout);
    // receive() (the default) returns immediately with whatever has arrived.
    for (const enpose::MarkerPose& pose : stream.receive(/*block=*/true)) {
        // ... use pose.timestamp, pose.x, pose.rotation, ...
    }
}

Failures throw enpose::Error. The PoseStream disconnects automatically when it goes out of scope.

Consuming the API

In your own CMake project, link the C++ target — it pulls in the headers and the shared library transitively:

find_package(enpose_api CONFIG REQUIRED)   # point CMAKE_PREFIX_PATH at the SDK
target_link_libraries(my_app PRIVATE enpose_api::enpose_api_cpp)

(In an in-tree / FetchContent build the same target is provided without find_package; see the top-level README.)

Building the bundled example

example.cpp is a complete discover-and-stream program. From the SDK's examples/cpp directory:

cmake -S . -B build
cmake --build build
./build/enpose_example_cpp

The example's CMakeLists.txt finds the SDK's CMake config automatically (it sits two levels up under lib/cmake/enpose_api), so no -DCMAKE_PREFIX_PATH is needed. At runtime the program needs to find the shared library — e.g. LD_LIBRARY_PATH=<sdk>/lib ./build/enpose_example_cpp.

API reference

The full API reference — every class, method, and field, generated from enpose_api.hpp — is published at https://enpose.tech/docs/cpp/.