Non-rigidly connected object verification is trivial in comparison to the previous
By virtue of the hypothesis construction process, all subcomponents have been
Further, because of the coordinate frame matching process, the reference
frames of the subcomponents must have the appropriate alignment relationships
with the whole ASSEMBLY.
Occlusion relationships were verified by the test given above.
What remains is to verify that the variable joint parameters meet any given
These are constrained using the general method given in the next subsection.