Add AxisAlignedBox getters for all relevant geometries

[gabrielfpacheco]

🎉 New feature

Part of gazebosim/gz-sim#2787

Summary

This PR adds AxisAlignedBox support for SDF geometries. Now each volumetric geometry type such as Box, Capsule, Cone, Cylinder, Ellipsoid, Sphere, and Mesh has a new AxisAlignedBox() function that computes its bounding box from the geometry dimensions. The Geometry class uses these functions to determine the correct AABB, allowing a custom calculator for meshes , which is a special case since no mesh loading is performed in the sdf::Mesh class.

Test it

• Checkout the appropriate sdformat branch
• Build this package

$ colcon build --packages-select sdformat15 --merge-install

• Run the following sdformat15 tests:

$ ./build/sdformat15/bin/UNIT_Box_TEST && \
./build/sdformat15/bin/UNIT_Capsule_TEST && \
./build/sdformat15/bin/UNIT_Cone_TEST && \
./build/sdformat15/bin/UNIT_Cylinder_TEST && \
./build/sdformat15/bin/UNIT_Ellipsoid_TEST && \
./build/sdformat15/bin/UNIT_Sphere_TEST && \
./build/sdformat15/bin/UNIT_Mesh_TEST && \
./build/sdformat15/bin/UNIT_Geometry_TEST

• Run all package tests to veify everything is still passing:

$ colcon test --packages-select sdformat15 --merge-install

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

These new methods should also be included in the python API (tests too), if you don't the time to do it, please open an issue about adding them

[gabrielfpacheco]

These new methods should also be included in the python API (tests too), if you don't the time to do it, please open an issue about adding them

I'm on it already

[scpeters]

it's reasonable to add gz::math::AxisAlignedBox accessors to the sdf Shape APIs. I'm going to open a feature request to move the conversion logic to gz-math, since I think it would be more broadly useful there. Something like gz/math/AxisAlignedBoxHelpers.hh with static functions like:

static gz::math::AxisAlignedBox ConvertToAxisAlignedBox(const gz::math::Box &);
static gz::math::AxisAlignedBox ConvertToAxisAlignedBox(const gz::math::Sphere &);
static gz::math::AxisAlignedBox ConvertToAxisAlignedBox(const gz::math::Capsule &);
etc.

The implementation here could then be refactored to use those helper functions, but we don't need to block this PR for that

[scpeters]

it's reasonable to add gz::math::AxisAlignedBox accessors to the sdf Shape APIs. I'm going to open a feature request to move the conversion logic to gz-math, since I think it would be more broadly useful there.

The implementation here could then be refactored to use those helper functions, but we don't need to block this PR for that

gazebosim/gz-math#666

[gabrielfpacheco]

The implementation here could then be refactored to use those helper functions, but we don't need to block this PR for that

I saw that gazebosim/gz-math#667 has been created. However, I’d prefer not to introduce a dependency here if possible. That said, I’d be happy to create a new PR using the new APIs once both PRs are merged. Does that sound good to you, @scpeters?

[gabrielfpacheco]

@scpeters @ahcorde, is there anything still missing here?

[gabrielfpacheco]

@scpeters, is this ready to merge?

[gabrielfpacheco]

Hi! Sorry if I'm being a bit pushy here, I just wanted to check if there's anything preventing this PR from being merged. I'd be more than happy to address any required changes. This is currently blocking a couple of other gz-sim PRs that would be really helpful on our end. Thanks a lot!

[gabrielfpacheco]

ping @azeey, @scpeters

[scpeters]

thanks for your contribution and patience with our review!

[gabrielfpacheco]

My pleasure, I'm happy to contribute! Totally understand that reviews can take time since we all have busy schedules, no need to worry :)

By the way, would it be possible to backport this to Harmonic?

[gabrielfpacheco]

By the way, would it be possible to backport this to Harmonic?

Also, are there any plans for the next release? This will be necessary to continue the related work in gazebosim/gz-sim#2787 and gazebosim/gz-sim#2821

[scpeters]

By the way, would it be possible to backport this to Harmonic?

Also, are there any plans for the next release? This will be necessary to continue the related work in gazebosim/gz-sim#2787 and gazebosim/gz-sim#2821

sorry for the delay; this was included in the 15.3.0 release