C++ functions

I am new in Linux CNC. I need to scan an object in 2D (I only need the surface). Since the scan is dynamic, the scan must be drives by the size of the object. In order to scan the object, I intend to write a small C++ program to control the CNC machine.

My C++ program will first scan the object with a coarse displacement. Then according with the result, it will re-scan the object with a fine displacement to analyze the surface.

My question is where I can find the C++ functions that control the CNC machine movement. How I can link my C++ program to the CNC functions which could come as a library function. Also, where I can found examples of C++ program linked to the CNC functions.

Thank