.. _architecture_library:

1.2 Architecture & Library Structure
====================================

This section provides an overview of the **Doosan Robotics Framework Library (DRFL)**,
highlighting its layered architecture and internal organization.

It describes how the DRFL functions as the core communication interface
between user applications and the robot controller.

This section explains:

- Layered architecture connecting user code to the robot controller
- Composition of the DRFL library (constants, structures, and interfaces)
- Library linking and configuration for application development
- Proper inclusion and usage of header files

    .. image:: /tutorials/images/introduction/dsr_robot2_architecture.png
        :alt: dart_platform
        :width: 100%
        :align: center


.. toctree::
   :maxdepth: 2

   architecture
   composition
   linking
   using_header