How do I make 2 points in two different objects to stick to eachother?

As the topic says, I need to make 2 points in two different objects to stick to eachother, so for example when I rotate a line which is "connected" to a square object in one end, the line will rotate around that point.
Also, if I have lets say two square objects and I "connect" one of the corners of one square object to another corner of another square object, where the points are located exactly on the same location, I need to be able to rotate any of the square objects around the point which is connected to the other square.
Is this possible?
Some will probably ask why I need to do this, but I can only say I do, it's a long story

Its quite complicated guys , I'm quite sure Illy doesn't do what I'm looking for.
It's basically a line which is "anchored" at one point and connected to a square at the other point. So when I move the square the line is being dragged with it without altering its length. And of course the "anchored" point of the line stays where it was from the beginning, while the other end is attached to the square moving with it.
This way the squares point, the one which is connected to the line, can neither end up closer or farther from the lines "anchored" point. The square can only move around that point in an exact circle, with constant radius.
I'm using this for measuring/map creation. It doesn't have to be 100% exact down to the millimetre, but I'd be happy if I could get it centimetres exact if you know what I mean. Of course this is on a scale of like 100x100 metres or more.
I can do it without this "feature" too, but it takes more time and is not totally exact either.
I can't use CAD for this, so it'll have to be Illy.

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1. Situation     2
2. How To Do     2
2.1 jre preparation     2
2.2 Put them into the system     2
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How do I make 2 points in two different objects to stick to eachother?

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