Joint where frame_b can move in a plane and can rotation around an axis perpendicular to the plane. The plane is defined by vector n which is perpendicular to the plane and by vector nx, which points in the direction of the x-axis of the plane. The relative distances prismatic1.q, prismatic2.q [m] and the relative rotation angle revolute.q [rad], as well as the relative velocities prismatic1.qd, prismatic1.qd [m/s], and the relative angular velocity revolute.qd [rad/s] are used as state variables.
The following parameters are used to define the joint:
n : Axis perpendicular to plane resolved in frame_a (= same as in frame_b) n must not necessarily be a unit vector. E.g., n = {0, 0, 1} or n = {1, 0, 1} qx0 : If prismatic1.q0=qx0, prismatic2.q0=qy0 and qy0 revolute.q=qr0, frame_a and frame_b are identical. qr0 startValueFixed: true, if start values of q, qd are fixed.