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Have you had a look at the ANT Windows & MacOS Library Packages? Most of the library is implemented in C++, and is cross platform. The parts dealing with serial communication are specific to each platform, as they are related to specific hardware and drivers. The full source code is available on the ANT+ Adopter Zone, so you can have a look and decide whether it fits your development.
Since you mentioned specifically Android and iOS... There is already an ANT Android SDK - it is quite different from the PC libraries. For iOS, if you are planning on using a 3rd party dongle (e.g. Wahoo), you may need to use the API provided by the 3rd party.