Commit 4f18015a authored by Olivier Stasse's avatar Olivier Stasse
Browse files

[doc] Improve documentation of entity + signals.

parent 52ebaecc
......@@ -9,7 +9,7 @@ Despite the fact that it looks very similar to a ROS node or a CORBA/OpenRTM ser
The main idea is that this entity is providing mostly a data-driven functionnality working at very high rate (\f$ 200 Hz\f$ or \f$ 1 kHz \f$)
and should have a minimal computational time foot-print.
For this signals (or ports to use a more classical terminology) are providing a time dependency between data.
For this \subpage subp_signals (or ports to use a more classical terminology) are providing a time dependency between data.
To implement this, an output signal is linked with a method of the entity. The method calls input signals or use other means
to get the needed data.
It might be provided by the connection with remote computers through a middleware, or specific protocols,
......
......@@ -2,7 +2,9 @@
\page subp_signals Signals
\section sec_sigintro Signals
Entities can output different types of signals. All signals are templated by a Time
Entities can output different types of signals. To guarante real-time perforamces, signals are implemented
using C++ and mecanism which have a low time foot-print.
All signals are templated by a Time
tick type parameter (which is used in the caching of signals) - usually \c int. Signals
are also templated after the type of data they accept or provide. For example:
(example)
......
Markdown is supported
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment