# `BB.Message.Geometry.Wrench`
[🔗](https://github.com/beam-bots/bb/blob/main/lib/bb/message/geometry/wrench.ex#L5)

Force and torque in 3D space.

## Fields

- `force` - Force as `BB.Vec3.t()` in Newtons
- `torque` - Torque as `BB.Vec3.t()` in Newton-metres

## Examples

    alias BB.Message.Geometry.Wrench
    alias BB.Math.Vec3

    {:ok, msg} = Wrench.new(:end_effector, Vec3.new(0.0, 0.0, -10.0), Vec3.zero())

# `t`

```elixir
@type t() :: %BB.Message.Geometry.Wrench{
  force: BB.Math.Vec3.t(),
  torque: BB.Math.Vec3.t()
}
```

# `new`

```elixir
@spec new(
  atom(),
  keyword()
) :: {:ok, BB.Message.t()} | {:error, term()}
```

# `new`

```elixir
@spec new(atom(), BB.Math.Vec3.t(), BB.Math.Vec3.t()) ::
  {:ok, BB.Message.t()} | {:error, term()}
```

Create a new Wrench message.

Returns `{:ok, %BB.Message{}}` with the wrench as payload.

## Examples

    alias BB.Math.Vec3

    {:ok, msg} = Wrench.new(:end_effector, Vec3.new(0.0, 0.0, -10.0), Vec3.zero())

---

*Consult [api-reference.md](api-reference.md) for complete listing*
