Over the last 3 years I've only done about 1500 miles each year. The car is normally in a garage, and connected to a Halfords charger that also maintains, cutting in and out as required. I connected a lead direct to the battery and ran it into the boot with one of those "kettle lead connectors" on the end. (see attached pic). I put the opposite connector onto the charger lead and simply connect up, shutting the boot gently on the wire.......works fine.
I'd imagine you could connect the charger wires to the battery under the rear seat and run to the solar panel on the rear shelf perhaps ? if that's the way you want to go......
Obviously a 240 volt mains powered charger solution is a better long term prospect I'd have thought.
Mark