using RobotNet10.Shared.Numbers;

namespace RobotNet10.Shared.Geometry;

/// <summary>
/// Twist message (geometry_msgs/Twist)
/// Expresses velocity in free space broken into its linear and angular parts
/// </summary>
public struct Twist
{
    /// <summary>
    /// Linear velocity (Vector3)
    /// </summary>
    public Vector3 Linear { get; set; }

    /// <summary>
    /// Angular velocity (Vector3)
    /// </summary>
    public Vector3 Angular { get; set; }

    /// <summary>
    /// Default constructor
    /// </summary>
    public Twist()
    {
        Linear = new Vector3();
        Angular = new Vector3();
    }

    /// <summary>
    /// Constructor with parameters
    /// </summary>
    public Twist(Vector3 linear, Vector3 angular)
    {
        Linear = linear;
        Angular = angular;
    }
}