api_documentation: http://ros.org/doc/fuerte/api/articulation/html
authors: Juergen Sturm
brief: Kinematic models for articulated objects (cabinet doors and drawers), including
  model fitting, model selection and visualization.
depends:
- common
- common_msgs
- driver_common
- geometry
- ros
- ros_comm
- visualization
- visualization_common
- freiburg_tools
- image_transport_plugins
- image_pipeline
- vision_opencv
depends_on: []
description: "\n\n<p>\nThis stack provides software that can recover articulation\
  \ models given 3D or 6D pose trajectories. \n</p>\n\n<p>\nThe <a href=\"http://ros.org/wiki/articulation_msgs\"\
  >articulation_msgs</a> package defines messages and services for exchanging trajectories\
  \ and kinematic models.\n</p>\n\n<p>\nThe <a href=\"http://ros.org/wiki/articulation_structure\"\
  >articulation_models</a> package provides several nodes for fitting and selecting\
  \ kinematic models for articulated objects. We employ maximum-likelihood sample\
  \ consensus (MLESAC) for robustly estimating the kinematic parameters, and the Bayesian\
  \ information criterion (BIC) for selecting between alternative model classes. The\
  \ learned model assigns likelihoods to observed trajectories, predict the latent\
  \ configuration of the articulated object, projects the noisy poses onto the model,\
  \ predict the Jacobian, etc.\n</p>\n\n<p>\nThe <a href=\"http://ros.org/wiki/articulation_structure\"\
  >articulation_structure</a> package provides a service for fitting and selecting\
  \ the kinematic model for articulated objects consisting of more than two parts.\
  \ \n</p>\n\n<p>\nSeveral tutorials, example launch files and demonstration videos\
  \ are available in the package <a href=\"http://ros.org/wiki/articulation_tutorials\"\
  >articulation_tutorials</a>. \n</p>\n\n  "
doc_job: doc-fuerte-alufr-ros-pkg
license: BSD
msgs: []
package_type: stack
packages:
- articulation_structure
- articulation_models
- articulation_msgs
- articulation_perception
- articulation_tutorials
- icp
repo_name: articulation
srvs: []
timestamp: 1356534978.889445
url: http://ros.org/wiki/articulation
vcs: svn
vcs_uri: http://alufr-ros-pkg.googlecode.com/svn/trunk/articulation
vcs_version: null
