The execution architecture, which provides the runtime environment for CogIMon systems consists of two layers: real-time execution and non-real-time execution.
For the real-time execution the Orocos Real-Time Toolkit (RTT) is used. It provides a C++ framework for realtime control systems. Combined with the Orocos Kinematics and Dynamics Library (KDL) it lays the foundation to implement the motion- / force-control architecture.
For the non-real-time critical parts of the architecture, either YARP modules or RSB services are used, which are encapsulated in and run as regular Linux processes. These high-level components are integrated with the real-time execution via interprocess communication and the respective OROCOS-RTT transport implementations.