Prismatic joint with curve path

[AlbertoMarnetto-Work]

I must model a machine in which one of the joints is constrained to slide on a curvilinear path.

I see that KDL::Joint only support prismatic joints that move along an axis. How can this behaviour be extended? Should I extend the Joint class with a new JointType (but this will probably require to extend / rewrite a lot of dependent code) or are there simpler approaches?

[MatthijsBurgh]

I am not sure. Extending the Joint class will not extend the solvers. So I don't think there is a simple solution.