Orocos Real-Time Toolkit 2.6.0
|Task Context Interface|
The TaskContext can provides and requires services and has an ExecutionEngine that executes its functions.
The Execution Engine is the heart of an Orocos component.
A Service consists of a configuration, operation and data flow interface which can be used, or connected to, other components.
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.