// SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
// SPDX-License-Identifier: BSD-3-Clause

#ifndef IDYNTREE_WRENCH_H
#define IDYNTREE_WRENCH_H

#include <iDynTree/SpatialForceVector.h>

namespace iDynTree
{
/**
 * Class representing a wrench, i.e. a 6D combination of linear force an angular torque.
 *
 * \ingroup iDynTreeCore
 *
 */
class Wrench : public SpatialForceVector
{
public:
    inline Wrench()
    {
    }
    Wrench(const Force& _linearVec3, const Torque& _angularVec3);
    Wrench(const SpatialForceVector& other);
    Wrench(const Wrench& other);

    // overloaded operators
    Wrench& operator=(const Wrench& other);
    Wrench operator+(const Wrench& other) const;
    Wrench operator-(const Wrench& other) const;
    Wrench operator-() const;
};
} // namespace iDynTree

#endif
