Add functionality to add entities via the entity tree

include/ignition/gazebo/Primitives.hh

@@ -0,0 +1,83 @@
+/*
+ * 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.
+ *
+ */
+
+#ifndef IGNITION_GAZEBO_PRIMITIVES_HH_
+#define IGNITION_GAZEBO_PRIMITIVES_HH_
+
+#include <ignition/gazebo/config.hh>
+#include <ignition/gazebo/Export.hh>
+
+#include <string>
+
+namespace ignition
+{
+  namespace gazebo
+  {
+    // Inline bracket to help doxygen filtering.
+    inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
+
+    /// \brief Enumeration of available primitive shape types
+    enum class IGNITION_GAZEBO_VISIBLE PrimitiveShape
+    {
+      kBox,
+      kCapsule,
+      kCylinder,
+      kEllipsoid,
+      kSphere,
+    };
+
+    /// \brief Enumeration of available primitive light types
+    enum class IGNITION_GAZEBO_VISIBLE PrimitiveLight
+    {
+      kDirectional,
+      kPoint,
+      kSpot,
+    };
+
+    /// \brief Return an SDF string of one of the available primitive
+    /// shape types
+    /// \param[in] _type Type of shape to retrieve
+    /// \return String containing SDF description of primitive shape
+    /// Empty string if the _type is not supported.
+    std::string IGNITION_GAZEBO_VISIBLE
+    getPrimitiveShape(const PrimitiveShape &_type);
+
+    /// \brief Return an SDF string of one of the available primitive
+    /// light types
+    /// \param[in] _type Type of light to retrieve
+    /// \return String containing SDF description of primitive light
+    /// Empty string if the _type is not supported.
+    std::string IGNITION_GAZEBO_VISIBLE
+    getPrimitiveLight(const PrimitiveLight &_type);
+
+    /// \brief Return an SDF string of one of the available primitive shape or
+    /// light types.
+    /// \param[in] _typeName Type name of the of shape or light to retrieve.
+    /// Must be one of: box, sphere, cylinder, capsule, ellipsoid, directional,
+    /// point, or spot.
+    /// \return String containing SDF description of primitive shape or light.
+    /// Empty string if the _typeName is invalid.
+    std::string IGNITION_GAZEBO_VISIBLE
+    getPrimitive(const std::string &_typeName);
+    }
+  }  // namespace gazebo
+}  // namespace ignition
+
+
+#endif  // IGNITION_GAZEBO_PRIMITIVES_HH_
+
+

src/CMakeLists.txt

@@ -52,6 +52,7 @@ set (sources
   LevelManager.cc
   Link.cc
   Model.cc
+  Primitives.cc
   SdfEntityCreator.cc
   SdfGenerator.cc
   Server.cc
@@ -78,6 +79,7 @@ set (gtest_sources
   EventManager_TEST.cc
   Link_TEST.cc
   Model_TEST.cc
+  Primitives_TEST.cc
   SdfEntityCreator_TEST.cc
   SdfGenerator_TEST.cc
   ServerConfig_TEST.cc