The Execution Engine is the heart of an Orocos component.
|Task Context Interface|
The TaskContext can be 'decorated' with a number of interface classes.
The RTT Component model is built around the TaskContext class.
The approach allows application builders to specify the interface of a component and the functionality. The component interface can be built by using the Task Context Interface classes, while the implementation (algorithm) is being run by the Execution Engine classes.