Backport: Adding cone primitives. (gazebosim#442)

Signed-off-by: Benjamin Perseghetti <[email protected]>
rudislabs · Jun 18, 2024 · 34eab63 · 34eab63
1 parent 876b89d
commit 34eab63
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Showing 2 changed files with 10 additions and 0 deletions.
diff --git a/core/include/gz/msgs/convert/GeometryType.hh b/core/include/gz/msgs/convert/GeometryType.hh
@@ -39,6 +39,10 @@ inline msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
   {
     result = msgs::Geometry::CAPSULE;
   }
+  else if (_str == "cone")
+  {
+    result = msgs::Geometry::CONE;
+  }
   else if (_str == "cylinder")
   {
     result = msgs::Geometry::CYLINDER;
@@ -98,6 +102,11 @@ inline std::string ConvertGeometryType(const msgs::Geometry::Type _type)
       result = "capsule";
       break;
     }
+  case msgs::Geometry::CONE:
+    {
+      result = "cone";
+      break;
+    }
     case msgs::Geometry::CYLINDER:
     {
       result = "cylinder";

diff --git a/test/integration/Utility_TEST.cc b/test/integration/Utility_TEST.cc
@@ -1003,6 +1003,7 @@ TEST(MsgsTest, ConvertMsgsGeometryTypeToString)
   CompareMsgsGeometryTypeToString(msgs::Geometry::BOX);
   CompareMsgsGeometryTypeToString(msgs::Geometry::SPHERE);
   CompareMsgsGeometryTypeToString(msgs::Geometry::CAPSULE);
+  CompareMsgsGeometryTypeToString(msgs::Geometry::CONE);
   CompareMsgsGeometryTypeToString(msgs::Geometry::CYLINDER);
   CompareMsgsGeometryTypeToString(msgs::Geometry::ELLIPSOID);
   CompareMsgsGeometryTypeToString(msgs::Geometry::PLANE);