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F2[i->j, p_{i}, p_{j}]function defines a list of input arguments of DefineKinematicPair function for planar fixed joint definition. |

- Fixed joint glue different links together rigidly.

- The kinematic pair is defined between i and j links where i and j are integers or strings.

- If i (j) is integer the link name is generated as "linki" ("linkj") respectively.

- The joint markers are defined with p1 and p2 .

- Fixed joint places i link onto j link such as joint markers - defined by p1 and p2- are super positioned.

- If pi is defined as one number ( e.g. 3) its resolved to {3,0,0}, which means that the joint markers origin is placed to the {3,0,0} point w.r.t to LLRF of linki.

- If pi is defined as list of two number ( e.g. {3,2}) its resolved to {3,2,0}, which means that the joint markers origin is placed to the {3,2,0} point w.r.t to LLRF of linki.

- Fixed joint can be used to place named markers onto a link.

- The following options can be given:

JointVariable | Automatic | specifies the symbol of the joint variable. | |

JointName | Automatic | specifies the name of the kinematic pair. | |

JointLimits | Automatic | defines the validity domain of the joint variable(s). | |

JointPose | Automatic | defines the offset value(s) of the joint variable(s). | |

Parameters | {} | List of the simple parameters used in the kinematic pair's definition ( e.g {l0→10,l1→3} ). | |

CandidateLoopVariables | Automatic | List of driving variable that will be used as loop variables in case of loop closing kinematic pair definition. | |

WorkingPrecision | MachinePrecision | WorkingPrecision is an option for various numerical operations which specifies how many digits of precision should be maintained in internal computations. | |

AccuracyGoal | Automatic | AccuracyGoal is an option for various numerical operations which specifies how many effective digits of accuracy should be sought in the final result. | |

MaxIterations | Automatic | MaxIterations is an option that specifies the maximum number of iterations that should be tried in various built-in functions and algorithms. |