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 int. Signals are also templated after the type of data they accept or provide. For example: (example) For a more detailed programmer-oriented description of signals, please see Signals