I must calculate the inverse kinematics of a machine in which one of the joints is constrained to a curvilinear path.
I looked for existing libraries to model the problem, but none of them seems to offer support for such kind of joints. In particular I looked ad KDL, but it only allows movements on a straight line (with a prismatic joint) or on a circle arc (with a rotational joint), but not on arbitrary curves.
Are there any tools suitable for such system that could be used instead of a handwritten solver? I would be interested in particular to libraries in C/C++.