The TensorRT Inference Server provides a backwards-compatible C API that allows the server to be linked directly into a C/C++ application. The API is documented in trtserver.h as well as in the API section of the documentation.
A simple example of the library API can be found at src/servers/simple.cc. A more complicated example can be found in the files that make up the inference server executable, trtserver. The trtserver executable implements the HTTP and GRPC endpoints and uses the library API to communicate with the inference server. The primary files composing trtserver are src/servers/main.cc, src/servers/grpc_server.cc, and src/servers/http_server.cc.