Added SetHeightMap and Heighmap to Geometry Python binding (#1440)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>

python/src/sdf/pyGeometry.cc

@@ -27,6 +27,7 @@
 #include "sdf/Cylinder.hh"
 #include "sdf/Ellipsoid.hh"
 #include "sdf/Geometry.hh"
+#include "sdf/Heightmap.hh"
 #include "sdf/Mesh.hh"
 #include "sdf/Plane.hh"
 #include "sdf/Sphere.hh"
@@ -101,6 +102,11 @@ void defineGeometry(pybind11::object module)
          "geometry is not a mesh.")
     .def("set_mesh_shape", &sdf::Geometry::SetMeshShape,
          "Set the mesh shape.")
+    .def("set_heightmap_shape", &sdf::Geometry::SetHeightmapShape,
+         "Set the heightmap shape.")
+    .def("heightmap_shape", &sdf::Geometry::HeightmapShape,
+          pybind11::return_value_policy::reference,
+          "Get the heightmap geometry.")
     .def("__copy__", [](const sdf::Geometry &self) {
       return sdf::Geometry(self);
     })

python/test/pyGeometry_TEST.py

@@ -14,7 +14,7 @@
 
 import copy
 from gz_test_deps.sdformat import (Element, Error, Geometry, Box, Capsule, Cone, Cylinder, Ellipsoid,
-                                   Mesh, ParserConfig, Plane, Sphere)
+                                   Heightmap, Mesh, ParserConfig, Plane, Sphere)
 from gz_test_deps.math import Inertiald, MassMatrix3d, Pose3d, Vector3d, Vector2d
 import gz_test_deps.sdformat as sdf
 import math
@@ -188,6 +188,23 @@ def test_mesh(self):
     self.assertEqual("orange", geom.mesh_shape().submesh())
     self.assertTrue(geom.mesh_shape().center_submesh())
 
+  def test_heighmap(self):
+    geom = Geometry()
+
+    geom.set_type(sdf.GeometryType.HEIGHTMAP)
+    heightmap = Heightmap()
+    geom.set_heightmap_shape(heightmap)
+
+    self.assertEqual(sdf.GeometryType.HEIGHTMAP, geom.type())
+    self.assertEqual(None, geom.box_shape())
+    self.assertEqual(None, geom.capsule_shape())
+    self.assertEqual(None, geom.cylinder_shape())
+    self.assertEqual(None, geom.ellipsoid_shape())
+    self.assertEqual(None, geom.sphere_shape())
+    self.assertEqual(None, geom.plane_shape())
+    self.assertEqual(None, geom.mesh_shape())
+    self.assertNotEqual(None, geom.heightmap_shape())
+
 
   def test_plane(self):
     geom = Geometry()