Added capsule and ellipsoid geom msgs (#128)

* Added capsule and ellipsoid geom msgs

Signed-off-by: ahcorde <ahcorde@gmail.com>

* Document new fields

Signed-off-by: ahcorde <ahcorde@gmail.com>

Author: ahcorde

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;
+}

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;
+}

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;

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.

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";

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);