Added capsule and ellipsoid geom msgs (#128)

* Added capsule and ellipsoid geom msgs Signed-off-by: ahcorde <[email protected]> * Document new fields Signed-off-by: ahcorde <[email protected]>
gazebosim · Jan 26, 2021 · 249f1ec · 249f1ec
1 parent b581eb1
commit 249f1ec
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Showing 6 changed files with 109 additions and 6 deletions.
diff --git a/proto/ignition/msgs/capsulegeom.proto b/proto/ignition/msgs/capsulegeom.proto
@@ -0,0 +1,38 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "CapsuleGeomProtos";
+
+/// \ingroup ignition.msgs
+/// \interface CapsuleGeom
+/// \brief Information about a capsule geometry
+
+import "ignition/msgs/header.proto";
+
+message CapsuleGeom
+{
+ /// \brief Optional header data
+ Header header = 1;
+
+ /// \brief Radius of the capsule
+ double radius = 2;
+ /// \brief Height of the cylinder
+ double length = 3;
+}
diff --git a/proto/ignition/msgs/ellipsoidgeom.proto b/proto/ignition/msgs/ellipsoidgeom.proto
@@ -0,0 +1,37 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+
+syntax = "proto3";
+package ignition.msgs;
+option java_package = "com.ignition.msgs";
+option java_outer_classname = "EllipsoidGeomProtos";
+
+/// \ingroup ignition.msgs
+/// \interface EllipsoidGeom
+/// \brief Information about a ellipsoid geometry
+
+import "ignition/msgs/header.proto";
+import "ignition/msgs/vector3d.proto";
+
+message EllipsoidGeom
+{
+ /// \brief Optional header data
+ Header header = 1;
+
+ /// \brief 3D Vector with the three radius that define a ellipsoid
+ Vector3d radii = 2;
+}
diff --git a/proto/ignition/msgs/geometry.proto b/proto/ignition/msgs/geometry.proto
@@ -24,17 +24,19 @@ option java_outer_classname = "GeometryProtos";
 /// \interface Geometry
 /// \brief Information about a geometry element
 
-import "ignition/msgs/header.proto";
 import "ignition/msgs/boxgeom.proto";
+import "ignition/msgs/capsulegeom.proto";
+import "ignition/msgs/conegeom.proto";
 import "ignition/msgs/cylindergeom.proto";
-import "ignition/msgs/spheregeom.proto";
-import "ignition/msgs/planegeom.proto";
-import "ignition/msgs/imagegeom.proto";
+import "ignition/msgs/ellipsoidgeom.proto";
+import "ignition/msgs/header.proto";
 import "ignition/msgs/heightmapgeom.proto";
+import "ignition/msgs/imagegeom.proto";
 import "ignition/msgs/meshgeom.proto";
-import "ignition/msgs/vector3d.proto";
+import "ignition/msgs/planegeom.proto";
 import "ignition/msgs/polylinegeom.proto";
-import "ignition/msgs/conegeom.proto";
+import "ignition/msgs/spheregeom.proto";
+import "ignition/msgs/vector3d.proto";
 
 message Geometry
 {
@@ -54,6 +56,8 @@ message Geometry
  EMPTY = 11;
  ARROW = 12;
  AXIS = 13;
+ CAPSULE = 14;
+ ELLIPSOID = 15;
  }
 
  /// \brief Optional header data
@@ -68,6 +72,8 @@ message Geometry
  HeightmapGeom heightmap = 8;
  MeshGeom mesh = 9;
  ConeGeom cone = 10;
+ CapsuleGeom capsule = 13;
+ EllipsoidGeom ellipsoid = 14;
 
  repeated Vector3d points = 11;
  repeated Polyline polyline = 12;

diff --git a/proto/ignition/msgs/marker.proto b/proto/ignition/msgs/marker.proto
@@ -49,6 +49,8 @@ message Marker
  CONE = 11;
  ARROW = 12;
  AXIS = 13;
+ CAPSULE = 14;
+ ELLIPSOID = 15;
  }
 
  /// \brief Visilibity defines what cameras render the marker.

diff --git a/src/Utility.cc b/src/Utility.cc
@@ -594,10 +594,18 @@ namespace ignition
  {
  result = msgs::Geometry::BOX;
  }
+ else if (_str == "capsule")
+ {
+ result = msgs::Geometry::CAPSULE;
+ }
  else if (_str == "cylinder")
  {
  result = msgs::Geometry::CYLINDER;
  }
+ else if (_str == "ellipsoid")
+ {
+ result = msgs::Geometry::ELLIPSOID;
+ }
  else if (_str == "sphere")
  {
  result = msgs::Geometry::SPHERE;
@@ -644,11 +652,21 @@ namespace ignition
  result = "box";
  break;
  }
+ case msgs::Geometry::CAPSULE:
+ {
+ result = "capsule";
+ break;
+ }
  case msgs::Geometry::CYLINDER:
  {
  result = "cylinder";
  break;
  }
+ case msgs::Geometry::ELLIPSOID:
+ {
+ result = "ellipsoid";
+ break;
+ }
  case msgs::Geometry::SPHERE:
  {
  result = "sphere";

diff --git a/src/Utility_TEST.cc b/src/Utility_TEST.cc
@@ -577,7 +577,9 @@ TEST(MsgsTest, ConvertMsgsGeometryTypeToString)
 {
  CompareMsgsGeometryTypeToString(msgs::Geometry::BOX);
  CompareMsgsGeometryTypeToString(msgs::Geometry::SPHERE);
+ CompareMsgsGeometryTypeToString(msgs::Geometry::CAPSULE);
  CompareMsgsGeometryTypeToString(msgs::Geometry::CYLINDER);
+ CompareMsgsGeometryTypeToString(msgs::Geometry::ELLIPSOID);
  CompareMsgsGeometryTypeToString(msgs::Geometry::PLANE);
  CompareMsgsGeometryTypeToString(msgs::Geometry::IMAGE);
  CompareMsgsGeometryTypeToString(msgs::Geometry::HEIGHTMAP);