The Roboclaw documentation is excellent.
The PDF is available for download. I never even looked at a library for something that I could just use by following the manual. The RoboClaw is an extremely powerful motor controller. It isn't just an inexpensive board where you put PWM in and get voltage out. You can use many methods for controlling the motor. This is part of the reason for the expense.
I've almost always used control by usb or serial because I'm lazy. It worked just as the manual said it would. Unfortunately this was a few years ago and the computer I used is gone. In the next few months I'm going to have to do this again, and I'll probably publish a library for Gobot (a framework for robotics written in Go). Perhaps I'll write one in Java also.
There is Colin's library in C++ for ROS. It's freely available on Github, but it says it hasn't been fully tested.
SorcererX has a C library for Linux using serial. It's also on Github.
However, there are a lot of other libraries available for the RoboClaw. Ion Motion Control (the sellers of the RoboClaw) have multiple libaries. These are meant as examples. If you don't want to use python, then just translate it into c++. Or write your own given the information in the manual.
The biggest mistake I've seen with these modules is that people will often buy the controller based on normal motor current rather than stall current. This leads to melted controllers eventually.