.. _controlsensing:

Control and Sensing Interfaces
==============================

Interfaces for Resource Nodes are consistently splitting up controlling and
sensing aspects. So for each *control variable* (eg. joint position, velocity
or torque) a resource specifies if it is able to *sense* or *control* it, or
both.

The idea of consistently splitting up controlling and sensing aspects
is based on a extensive feature-oriented domain analysis on compliant robots and
their control software, which is documented in
the `AMARSi Deliverable D 7.1`_.

.. _`AMARSi Deliverable D 7.1`:
	http://www.amarsi-project.eu/system/files/AMARSI-D.7.1.pdf