API Mapping

Dynibo exposes one numerical model through four idiomatic interfaces. Operation names remain recognizable; resource ownership, buffers, and errors follow each language's conventions.

Rust uses crate and type namespaces, Python uses modules and classes, and C++ uses namespace dynibo. C has no namespace, so every stable ABI symbol carries the dynibo_ library prefix. The prefix is the C spelling of a namespace, not a different numerical API.

Concept	Rust	Python	C++	C
Load fixed-base model	`Robot::from_urdf`	`Robot.from_urdf`	`dynibo::Robot(path)`	`dynibo_robot_from_urdf`
Load floating-base model	`FloatingRobot::from_urdf`	`FloatingRobot.from_urdf`	`dynibo::FloatingRobot(path)`	`dynibo_floating_robot_from_urdf`
Resolve fixed/floating link	`robot.link_id`	`robot.link_id`	`robot.link_id`	`dynibo_robot_link_id` / `dynibo_floating_robot_link_id`
Fixed forward kinematics	`Robot::forward_kinematics`	`Robot.forward_kinematics`	`Robot.forward_kinematics`	`dynibo_forward_kinematics`
Floating forward kinematics	`FloatingRobot::forward_kinematics(base, …)`	`FloatingRobot.forward_kinematics(base, …)`	`FloatingRobot.forward_kinematics(base, …)`	`dynibo_floating_forward_kinematics`
Fixed/floating Jacobian	`Robot` / `FloatingRobot` methods	`Robot` / `FloatingRobot` methods	`Robot` / `FloatingRobot` methods	`dynibo_jacobian` / `dynibo_floating_jacobian`
Fixed mass/dynamics	`Robot` methods	`Robot` methods	`Robot` methods	`dynibo_mass_matrix`, `dynibo_inverse_dynamics`, `dynibo_forward_dynamics`
Floating mass/dynamics	`FloatingRobot` methods with `base`	`FloatingRobot` methods with `base`	`FloatingRobot` methods with `base`	`dynibo_floating_mass_matrix`, `dynibo_floating_inverse_dynamics`, `dynibo_floating_forward_dynamics`
Fixed/floating workspace	Owned by typed robot	Owned by typed robot	Owned by typed robot	`DyniboWorkspace` / `DyniboFloatingWorkspace`
Matrix output	Caller buffer	Flat NumPy array or reusable `out=`	Flat `std::vector`	Caller buffer
Errors	`Result<T>`	Exceptions	`dynibo::Error`	`DyniboStatus`

Value types

Meaning	Rust	Python	C++	C
Pose	`Frame`	`Pose`	`DyniboPose`	`DyniboPose`
Spatial motion	`Twist`	`Twist`	`DyniboTwist`	`DyniboTwist`
External load	`IndexedLoad`	`Load`	`DyniboLoad`	`DyniboLoad`
IK options	`InverseKinematicsOptions`	`IkOptions`	`DyniboIkOptions`	`DyniboIkOptions`
Link identifier	`LinkId`	`int`	`std::size_t`	`size_t`

The C++ wrapper deliberately reuses ABI-compatible C value structs while adding RAII, methods, move semantics, and exceptions around object handles.

See the User Guide for shared semantics and the individual language pages for integration details.