.. _concepts:

===============
 Base Concepts
===============

The basic concepts of RCI are based on a extensive feature-oriented domain
analysis on compliant robots and their control software, which is documented in
the :term:`AMARSi Deliverable D 7.1`.

Resource Nodes
==============

:ref:`Resource Nodes <resourcenode>` are the implementation-independent
base elements of a robot interface defined in RCI and roughly corresponds to a
(physical or simulated) joint or a sensor of a robot. See :ref:`resourcenode`.

Controlling and Sensing Interfaces
==================================

The Interfaces that can be implemented by Resource Nodes are consistently split
up into controlling and sensing interfaces, see
:ref:`ctrlsens`.

Data Transfer Objects
=======================

:ref:`Data Transfer Objects <dto>` are the domain-specific data-holders
defined within RCI and correspond to the different controlling and sensing
interfaces. See :ref:`dto`.

Synchronizer
============

The :ref:`Synchronizer <synchronizer>` is the implementation-dependent part of
RCI, connecting the Resource Nodes to the actual robot hardware or simulation.