OOConnect

// Listing 0
// C++
#include <stdio.h>
#include <cppuhelper/bootstrap.hxx>
#include <com/sun/star/bridge/XUnoUrlResolver.hpp>
#include <com/sun/star/lang/XMultiServiceFactory.hpp>
// added
#include <com/sun/star/frame/XComponentLoader.hpp>

using namespace com::sun::star::uno;
using namespace com::sun::star::lang;
using namespace com::sun::star::bridge;
// added
using namespace com::sun::star::frame;

using namespace rtl;
using namespace cppu;

// a procedure for what the so called boostrap
Reference< XMultiServiceFactory > ooConnect(){
   // create the initial component context
   Reference< XComponentContext > rComponentContext = 
				defaultBootstrap_InitialComponentContext();

   // retrieve the servicemanager from the context
   Reference< XMultiComponentFactory > rServiceManager = 
				rComponentContext->getServiceManager();

   // instantiate a sample service with the servicemanager.
   Reference< XInterface > rInstance =  rServiceManager->createInstanceWithContext(
         OUString::createFromAscii("com.sun.star.bridge.UnoUrlResolver" ),rComponentContext );

   // Query for the XUnoUrlResolver interface
   Reference< XUnoUrlResolver > rResolver( rInstance, UNO_QUERY );
   if( ! rResolver.is() ){
      printf( "Error: Couldn't instantiate com.sun.star.bridge.UnoUrlResolver service\n" );
      return NULL;
   }
   try {
      // resolve the uno-url
      rInstance = rResolver->resolve( OUString::createFromAscii(
         "uno:socket,host=localhost,port=8100;urp;StarOffice.ServiceManager" ) );
   
      if( ! rInstance.is() ){
         printf( "StarOffice.ServiceManager is not exported from remote counterpart\n" );
         return NULL;
      }

      // query for the simpler XMultiServiceFactory interface, sufficient for scripting
      Reference< XMultiServiceFactory > rOfficeServiceManager (rInstance, UNO_QUERY);

      if( ! rOfficeServiceManager.is() ){
            printf( "XMultiServiceFactory interface is not exported for StarOffice.ServiceManager\n" );
            return NULL;
        }       
        return rOfficeServiceManager;
   }
   catch( Exception &e ){
      OString o = OUStringToOString( e.Message, RTL_TEXTENCODING_ASCII_US );
      printf( "Error: %s\n", o.pData->buffer );
      return NULL;
   }
   return NULL;
}

Note : You have eventually to change "port=8100" into "port=2083" for recent SDK (after 2.X).

You can have a look at :

1. com.sun.star.uno.XComponentContext, com.sun.star.lang.XMultiComponentFactory, com.sun.star.uno.XInterface, com.sun.star.bridge.XUnoUrlResolver and com.sun.star.lang.XMultiServiceFactory interfaces,
2. com.sun.star.bridge.UnoUrlResolver service