Add python bindings to new public method

Signed-off-by: Gabriel Pacheco <gabriel.fpacheco@gmail.com>

Author: gabrielfpacheco

python/src/gz/sim/Link.cc

@@ -205,6 +205,13 @@ void defineSimLink(py::object module)
   .def("world_axis_aligned_box", &gz::sim::Link::WorldAxisAlignedBox,
       py::arg("ecm"),
       "Get the Link's axis-aligned box represented in the world frame.")
+  .def("compute_axis_aligned_box", &gz::sim::Link::ComputeAxisAlignedBox,
+      py::arg("ecm"),
+      "Compute the Link's axis-aligned box represented in the link frame. "
+      "It generates an axis-aligned bounding box for a link based on the "
+      "collision shapes attached to the it. The link bounding box is "
+      "generated by merging all the bounding boxes of the collision "
+      "geometry shapes attached to the link.")
   .def("__copy__",
       [](const gz::sim::Link &self)
       {

python/test/link_TEST.py

@@ -88,21 +88,28 @@ def on_pre_udpate_cb(_info, _ecm):
             self.assertEqual(0, link.world_kinetic_energy(_ecm))
             link.enable_velocity_checks(_ecm, False)
             link.enable_acceleration_checks(_ecm, False)
-            # Axis Aligned Box Test
-            link.enable_bounding_box_checks(_ecm, True)
+            # Compute Axis Aligned Box Test
             # Offset of 0.5 meters along z-axis
+            self.assertEqual(
+                AxisAlignedBox(Vector3d(-0.5, -0.5, 0), Vector3d(0.5, 0.5, 1)),
+                link.compute_axis_aligned_box(_ecm)
+            )
+            # Axis Aligned Box Test with disabled bounding box checks
+            link.enable_bounding_box_checks(_ecm, False)
+            self.assertEqual(None, link.axis_aligned_box(_ecm))
+            self.assertEqual(None, link.world_axis_aligned_box(_ecm))
+            # Axis Aligned Box Test with enabled bounding box checks
+            link.enable_bounding_box_checks(_ecm, True)
             self.assertEqual(
                 AxisAlignedBox(Vector3d(-0.5, -0.5, 0), Vector3d(0.5, 0.5, 1)),
                 link.axis_aligned_box(_ecm)
             )
-            # World Axis Aligned Box Test
-            # Same as above since the link is at the origin
+            # Same as above since the link is at the world origin
             self.assertEqual(
                 AxisAlignedBox(Vector3d(-0.5, -0.5, 0), Vector3d(0.5, 0.5, 1)),
                 link.world_axis_aligned_box(_ecm)
             )
 
-
         def on_udpate_cb(_info, _ecm):
             self.iterations += 1