From 34eab63258dd1e99e5f229e539f2c727f3907a84 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Mon, 17 Jun 2024 22:22:50 -0400
Subject: [PATCH] Backport: Adding cone primitives. (#442)

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 core/include/gz/msgs/convert/GeometryType.hh | 9 +++++++++
 test/integration/Utility_TEST.cc             | 1 +
 2 files changed, 10 insertions(+)

diff --git a/core/include/gz/msgs/convert/GeometryType.hh b/core/include/gz/msgs/convert/GeometryType.hh
index e8152fd7..fb238045 100644
--- 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
index 8c40d89f..634afbe3 100644
--- 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);