Add python bindings for new methods

Signed-off-by: Steve Peters <[email protected]>

Author: scpeters

python/src/gz/sim/Link.cc

@@ -57,6 +57,11 @@ void defineSimLink(py::object module)
       py::arg("name"),
       "Get the ID of a collision entity which is an immediate child of "
       "this link.")
+  .def("sensor_by_name", &gz::sim::Link::SensorByName,
+      py::arg("ecm"),
+      py::arg("name"),
+      "Get the ID of a sensor entity which is an immediate child of "
+      "this link.")
   .def("visual_by_name", &gz::sim::Link::VisualByName,
       py::arg("ecm"),
       py::arg("name"),
@@ -65,13 +70,20 @@ void defineSimLink(py::object module)
   .def("collisions", &gz::sim::Link::Collisions,
       py::arg("ecm"),
       "Get all collisions which are immediate children of this link.")
+  .def("sensors", &gz::sim::Link::Sensors,
+      py::arg("ecm"),
+      "Get all sensors which are immediate children of this link.")
   .def("visuals", &gz::sim::Link::Visuals,
       py::arg("ecm"),
       "Get all visuals which are immediate children of this link.")
   .def("collision_count", &gz::sim::Link::CollisionCount,
       py::arg("ecm"),
       "Get the number of collisions which are immediate children of "
       "this link.")
+  .def("sensor_count", &gz::sim::Link::SensorCount,
+      py::arg("ecm"),
+      "Get the number of sensors which are immediate children of this "
+      "link.")
   .def("visual_count", &gz::sim::Link::VisualCount,
       py::arg("ecm"),
       "Get the number of visuals which are immediate children of this "

python/test/link_TEST.py

@@ -56,6 +56,9 @@ def on_pre_udpate_cb(_info, _ecm):
             # Collisions Test
             self.assertNotEqual(K_NULL_ENTITY, link.collision_by_name(_ecm, 'collision_test'))
             self.assertEqual(1, link.collision_count(_ecm))
+            # Sensors Test
+            self.assertNotEqual(K_NULL_ENTITY, link.sensor_by_name(_ecm, 'my_sensor'))
+            self.assertEqual(1, link.sensor_count(_ecm))
             # Visuals Test
             self.assertNotEqual(K_NULL_ENTITY, link.visual_by_name(_ecm, 'visual_test'))
             self.assertEqual(1, link.visual_count(_ecm))