Joint where frame_b rotates around axis n which is fixed in frame_a and translates independently around the same axis. The relative angle revolute.q [rad], the relative distance prismatic.q [m], the relative angular velocity revolute.qd [rad/s] and the relative velocity prismatic.qd [m/s] are used as state variables.
The following parameters are used to define the joint:
n : Axis of cylindrical joint resolved in frame_a (= same as in frame_b). n must not necessarily be a unit vector. qt0 : If revolute.q=qr0 and prismatic.q=qt0, qr0 frame_a and frame_b are identical. startValueFixed: true, if start values of q, qd are fixed.