.. _dto:

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

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

DTOs contain typed data with defined dimensions and units to ease transformation
and exchange of domain-specific data.

Examples:

* ...
* :ref:`jointangles`
* ...
* :ref:`doubles`
* ...