Aded ToElement conversion for shapes

[nkoenig]

Signed-off-by: Nate Koenig nate@openrobotics.org

🎉 New feature

Summary

Adds ToElement conversions for the Physics and Atmosphere DOM objects.

Test it

Run the tests

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• 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

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[codecov-commenter]

Codecov Report

Merging #772 (7775c07) into sdf12 (3d8147b) will increase coverage by 0.06%.
The diff coverage is 100.00%.

@@            Coverage Diff             @@
##            sdf12     #772      +/-   ##
==========================================
+ Coverage   89.23%   89.30%   +0.06%     
==========================================
  Files          76       76              
  Lines       12081    12160      +79     
==========================================
+ Hits        10781    10860      +79     
  Misses       1300     1300              

Impacted Files	Coverage Δ
src/Box.cc	91.66% <100.00%> (+1.66%)	⬆️
src/Capsule.cc	96.07% <100.00%> (+0.72%)	⬆️
src/Cylinder.cc	96.07% <100.00%> (+0.72%)	⬆️
src/Ellipsoid.cc	91.66% <100.00%> (+1.66%)	⬆️
src/Heightmap.cc	100.00% <100.00%> (ø)
src/Mesh.cc	98.55% <100.00%> (+0.36%)	⬆️
src/Plane.cc	92.00% <100.00%> (+1.52%)	⬆️
src/Sphere.cc	91.66% <100.00%> (+1.66%)	⬆️

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[scpeters]

we ran into some questions about the design of DOM objects about a year ago and posted some of them in #292. Here are two of those questions that seem relevant to this work:

• How dynamic is the DOM? If you call SetPoseRelativeTo, does that modify the embedded ElementPtr? the PoseRelativeToGraph?
• Is the DOM a read-only interface to a model parsed from XML? Or would you construct a model programmatically from DOM objects?

cc @azeey

[osrf-triage]

This pull request has been mentioned on Gazebo Community. There might be relevant details there:

https://community.gazebosim.org/t/new-ignition-releases-2022-04-13-fortress-edifice/1367/1