The "espada ropera" of the 16th century was a cut-and-thrust civilian weapon for self-defense and the duel, while earlier weapons were equally at home on the battlefield. Throughout the 16th century, a variety of new, single-handed civilian weapons were being developed. In 1570 the Italian master Rocco Bonetti first settled in England advocating the use of the rapier for thrusting as opposed to cutting or slashing when engaged in a duel. Nevertheless, the English word "rapier" generally refers to a primarily thrusting weapon, developed by the year 1600 as a result of the geometrical theories of such masters as Camillo Agrippa, Ridolfo Capoferro and Vincentio Saviolo.