Part I
urbiscript User Manual

3 First Steps
 3.1 Comments
 3.2 Literal values
 3.3 Function calls
 3.4 Variables
 3.5 Scopes
 3.6 Method calls
 3.7 Function definition
 3.8 Conclusion
4 Basic Objects, Value Model
 4.1 Objects in urbiscript
 4.2 Methods
 4.3 Everything is an object
 4.4 The urbiscript values model
 4.5 Conclusion
5 Flow Control Constructs
 5.1 if
 5.2 while
 5.3 for
 5.4 switch
 5.5 do
6 Advanced Functions and Scoping
 6.1 Scopes as expressions
 6.2 Advanced scoping
 6.3 Local functions
 6.4 Lexical closures
7 Objective Programming, urbiscript Object Model
 7.1 Prototype-Based Programming in urbiscript
 7.2 Prototypes and Slot Lookup
 7.3 Copy on Write
 7.4 Defining Pseudo-Classes
 7.5 Constructors
 7.6 Operators
 7.7 Properties
 7.8 Getters and setters
8 Organizing your code using package and import
 8.1 Why object lookup is not enough
 8.2 Import and package
9 Functional Programming
 9.1 First class functions
 9.2 Lambda functions
 9.3 Lazy arguments
10 Parallelism, Concurrent Flow Control
 10.1 Parallelism operators
 10.2 Detach
 10.3 Tags for parallel control flows
 10.4 timeout, freezeif and stopif
 10.5 Advanced example with parallelism and tags
11 Event-based Programming
 11.1 Watchdog constructs
 11.2 Events
12 Urbi for ROS Users
 12.1 Communication on topics
 12.2 Using Services
 12.3 Image Publisher from ROS to Urbi
 12.4 Image Subscriber from Urbi to ROS
 12.5 Remote communication