diff --git a/dart/constraint/WeldJointConstraint.cpp b/dart/constraint/WeldJointConstraint.cpp
index c47a39d171d27..99f17271c85f8 100644
--- a/dart/constraint/WeldJointConstraint.cpp
+++ b/dart/constraint/WeldJointConstraint.cpp
@@ -80,9 +80,22 @@ WeldJointConstraint::WeldJointConstraint(dynamics::BodyNode* _body1,
   mOldX[5] = 0.0;
 }
 
+//==============================================================================
+void WeldJointConstraint::setRelativeTransform(const Eigen::Isometry3d& _tf)
+{
+  mRelativeTransform = _tf;
+}
+
+//==============================================================================
+const Eigen::Isometry3d& WeldJointConstraint::getRelativeTransform() const
+{
+  return mRelativeTransform;
+}
+
 //==============================================================================
 WeldJointConstraint::~WeldJointConstraint()
 {
+  // Do nothing
 }
 
 //==============================================================================
diff --git a/dart/constraint/WeldJointConstraint.hpp b/dart/constraint/WeldJointConstraint.hpp
index aaebfa7c50c7e..786d3c23e61b7 100644
--- a/dart/constraint/WeldJointConstraint.hpp
+++ b/dart/constraint/WeldJointConstraint.hpp
@@ -51,6 +51,12 @@ class WeldJointConstraint : public JointConstraint
   /// Constructor that takes two bodies
   WeldJointConstraint(dynamics::BodyNode* _body1, dynamics::BodyNode* _body2);
 
+  /// Set the relative transform that this WeldJointConstraint will enforce
+  void setRelativeTransform(const Eigen::Isometry3d& _tf);
+
+  /// Get the relative transform that this WeldJointConstraint will enforce
+  const Eigen::Isometry3d& getRelativeTransform() const;
+
   /// Destructor
   virtual ~WeldJointConstraint();