Update AxisAlignedBoxCalculator return type to be optional

Signed-off-by: Gabriel Pacheco <[email protected]>

Author: gabrielfpacheco

Diff for: include/sdf/Mesh.hh

@@ -96,7 +96,8 @@ namespace sdf
   class SDFORMAT_VISIBLE Mesh
   {
     public: using AxisAlignedBoxCalculator =
-      std::function<gz::math::AxisAlignedBox(const sdf::Mesh &_sdfMesh)>;
+      std::function<std::optional<gz::math::AxisAlignedBox>(
+        const sdf::Mesh &_sdfMesh)>;
 
     /// \brief Constructor
     public: Mesh();
@@ -214,7 +215,7 @@ namespace sdf
     /// \param[in] _aabbCalc A custom function that calculates the
     /// AxisAlignedBox for the Mesh.
     /// \return A gz::math::AxisAlignedBox object centered at this
-    /// Mesh's origin.
+    /// Mesh's origin or std::nullopt.
     public: std::optional<gz::math::AxisAlignedBox>
             AxisAlignedBox(const AxisAlignedBoxCalculator &_aabbCalc) const;
 

Diff for: python/test/pyGeometry_TEST.py

@@ -18,6 +18,7 @@
 from gz_test_deps.math import AxisAlignedBox, Inertiald, MassMatrix3d, Pose3d, Vector3d, Vector2d
 import gz_test_deps.sdformat as sdf
 import math
+from typing import Optional
 import unittest
 
 
@@ -461,7 +462,7 @@ def test_axis_aligned_box(self):
 
     self.assertEqual(None, geom.axis_aligned_box(None))
 
-    def mesh_aabb_calulator(sdf_mesh: Mesh) -> AxisAlignedBox:
+    def mesh_aabb_calulator(sdf_mesh: Mesh) -> Optional[AxisAlignedBox]:
       return AxisAlignedBox(Vector3d(-1, -1, -1), Vector3d(1, 1, 1))
 
     self.assertEqual(

Diff for: python/test/pyMesh_TEST.py

@@ -16,6 +16,7 @@
 from gz_test_deps.sdformat import Mesh, ConvexDecomposition
 from gz_test_deps.math import AxisAlignedBox, Vector3d
 import gz_test_deps.sdformat as sdf
+from typing import Optional
 import unittest
 
 
@@ -164,13 +165,21 @@ def test_axis_aligned_box(self):
     self.assertEqual(None, mesh.axis_aligned_box(None))
 
     # Customly defined Mesh AABB calculator
-    def mesh_aabb_calulator(sdf_mesh: Mesh) -> AxisAlignedBox:
+    def mesh_aabb_calulator(sdf_mesh: Mesh) -> Optional[AxisAlignedBox]:
+      if sdf_mesh.uri() == "no_mesh":
+        return None
+
       if sdf_mesh.uri() == "banana":
         # Banana mesh should return invalid AABB
         return AxisAlignedBox()
 
       return AxisAlignedBox(Vector3d(-1, -1, -1), Vector3d(1, 1, 1))
 
+    mesh.set_uri("no_mesh")
+    self.assertEqual(
+      None,
+      mesh.axis_aligned_box(mesh_aabb_calulator))
+
     mesh.set_uri("banana")
     self.assertEqual(
       AxisAlignedBox(),

Diff for: src/Geometry_TEST.cc

@@ -1295,7 +1295,8 @@ TEST(DOMGeometry, AxisAlignedBox)
     auto aabb = geom.AxisAlignedBox(nullptr);
     EXPECT_FALSE(aabb.has_value());
 
-    auto meshAabbCalculator = [](const sdf::Mesh &) -> gz::math::AxisAlignedBox
+    auto meshAabbCalculator = [](const sdf::Mesh &) ->
+      std::optional<gz::math::AxisAlignedBox>
     {
       return gz::math::AxisAlignedBox(
         gz::math::Vector3d(-1, -2, -3),

Diff for: src/Mesh_TEST.cc

@@ -443,8 +443,13 @@ TEST(DOMMesh, AxisAlignedBox)
   EXPECT_EQ(std::nullopt, mesh.AxisAlignedBox(nullptr));
 
   auto customCalculator = [](
-    const sdf::Mesh &_mesh) -> gz::math::AxisAlignedBox
+    const sdf::Mesh &_mesh) -> std::optional<gz::math::AxisAlignedBox>
   {
+    if(_mesh.Uri() == "no_mesh")
+    {
+      return std::nullopt;
+    }
+
     if (_mesh.Uri() == "banana")
     {
       // Invalid mesh leads to empty AABB
@@ -459,16 +464,20 @@ TEST(DOMMesh, AxisAlignedBox)
     );
   };
 
-  // Set to valid "apple" mesh
+  // "apple" mesh should return valid aabb
   mesh.SetUri("apple");
   auto aabb = mesh.AxisAlignedBox(customCalculator);
   EXPECT_TRUE(aabb.has_value());
   EXPECT_EQ(gz::math::Vector3d(1, 2, 3), aabb->Min());
   EXPECT_EQ(gz::math::Vector3d(4, 5, 6), aabb->Max());
 
-  // Set to invalid "banana" mesh
+  // "banana" mesh should return invalid aabb
   mesh.SetUri("banana");
   aabb = mesh.AxisAlignedBox(customCalculator);
   EXPECT_TRUE(aabb.has_value());
   EXPECT_EQ(gz::math::AxisAlignedBox(), aabb.value());
+
+  // "no_mesh" should return std::nullopt
+  mesh.SetUri("no_mesh");
+  EXPECT_EQ(std::nullopt, mesh.AxisAlignedBox(customCalculator));
 }