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From my own experience, it seems like the answer is that one can't apply force to a model/object, only a link. This can be solved by getting the desired link from the model, where the names of the links can be changed in the .world file:

this->model->GetLink("body")->SetForce(ignition::math::Vector3d(1.0, 0.0, 0.0);

The same goes for applying torque:

this->model->GetLink("body")->SetTorque(1.0, ignition::math::Vector3d(1.0, 0.0, 0.0);

Hope this helps someone else.