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I think these functions can get you a gist of how you use it with C++:
https://github.com/ros-controls/ros2_controllers/blob/12160de6d9c132b99b6c6f1cf975f6296006db7c/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L114
https://github.com/ros-controls/ros2_controllers/blob/12160de6d9c132b99b6c6f1cf975f6296006db7c/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L1011
https://github.com/ros-controls/ros2_controllers/blob/12160de6d9c132b99b6c6f1cf975f6296006db7c/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L1134
Knowledge of iterators and a bit of STL is assumed.
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