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Simplify the type erasure poly
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@Levi-Armstrong
Levi-Armstrong committed Dec 1, 2024
1 parent e5f06eb commit 40e14bc
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Showing 6 changed files with 42 additions and 36 deletions.
13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/cartesian_waypoint_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -48,20 +48,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
using C##InstanceBase = tesseract_common:: \
TypeErasureInstance<C, tesseract_planning::detail_cartesian_waypoint::CartesianWaypointInterface>; \
using C##Instance = tesseract_planning::detail_cartesian_waypoint::CartesianWaypointInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_CARTESIAN_WAYPOINT_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -194,6 +190,11 @@ struct CartesianWaypointInstance : tesseract_common::TypeErasureInstance<T, Cart
const std::string& getName() const final { return this->get().getName(); }
void print(const std::string& prefix) const final { this->get().print(prefix); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<CartesianWaypointInstance<T>>(this->get());
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
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13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/instruction_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,20 +51,16 @@ struct uuid;
using C##InstanceBase = \
tesseract_common::TypeErasureInstance<C, tesseract_planning::detail_instruction::InstructionInterface>; \
using C##Instance = tesseract_planning::detail_instruction::InstructionInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -158,6 +154,11 @@ struct InstructionInstance : tesseract_common::TypeErasureInstance<T, Instructio

void print(const std::string& prefix) const final { this->get().print(prefix); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<InstructionInstance<T>>(this->get()); // Creates a copy of this object
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
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13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/joint_waypoint_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -47,20 +47,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
using C##InstanceBase = \
tesseract_common::TypeErasureInstance<C, tesseract_planning::detail_joint_waypoint::JointWaypointInterface>; \
using C##Instance = tesseract_planning::detail_joint_waypoint::JointWaypointInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_JOINT_WAYPOINT_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -204,6 +200,11 @@ struct JointWaypointInstance : tesseract_common::TypeErasureInstance<T, JointWay
const std::string& getName() const final { return this->get().getName(); }
void print(const std::string& prefix) const final { this->get().print(prefix); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<JointWaypointInstance<T>>(this->get());
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
Expand Down
13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/move_instruction_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -51,20 +51,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
using C##InstanceBase = \
tesseract_common::TypeErasureInstance<C, tesseract_planning::detail_move_instruction::MoveInstructionInterface>; \
using C##Instance = tesseract_planning::detail_move_instruction::MoveInstructionInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_MOVE_INSTRUCTION_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -283,6 +279,11 @@ struct MoveInstructionInstance : tesseract_common::TypeErasureInstance<T, MoveIn
JointWaypointPoly createJointWaypoint() const final { return this->get().createJointWaypoint(); }
StateWaypointPoly createStateWaypoint() const final { return this->get().createStateWaypoint(); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<MoveInstructionInstance<T>>(this->get());
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
Expand Down
13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/state_waypoint_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,20 +46,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
using C##InstanceBase = \
tesseract_common::TypeErasureInstance<C, tesseract_planning::detail_state_waypoint::StateWaypointInterface>; \
using C##Instance = tesseract_planning::detail_state_waypoint::StateWaypointInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_STATE_WAYPOINT_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -222,6 +218,11 @@ struct StateWaypointInstance : tesseract_common::TypeErasureInstance<T, StateWay
const std::string& getName() const final { return this->get().getName(); }
void print(const std::string& prefix) const final { this->get().print(prefix); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<StateWaypointInstance<T>>(this->get());
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
Expand Down
13 changes: 7 additions & 6 deletions tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,20 +46,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
using C##InstanceBase = \
tesseract_common::TypeErasureInstance<C, tesseract_planning::detail_waypoint::WaypointInterface>; \
using C##Instance = tesseract_planning::detail_waypoint::WaypointInstance<C>; \
using C##InstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<C##Instance>; \
} \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceBase) \
BOOST_CLASS_EXPORT_KEY(N::C##Instance) \
BOOST_CLASS_EXPORT_KEY(N::C##InstanceWrapper) \
BOOST_CLASS_TRACKING(N::C##InstanceBase, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never) \
BOOST_CLASS_TRACKING(N::C##InstanceWrapper, boost::serialization::track_never)
BOOST_CLASS_TRACKING(N::C##Instance, boost::serialization::track_never)

/** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
#define TESSERACT_WAYPOINT_EXPORT_IMPLEMENT(inst) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceBase) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance) \
BOOST_CLASS_EXPORT_IMPLEMENT(inst##InstanceWrapper)
BOOST_CLASS_EXPORT_IMPLEMENT(inst##Instance)

/**
* @brief This should not be used within shared libraries use the two above.
Expand Down Expand Up @@ -124,6 +120,11 @@ struct WaypointInstance : tesseract_common::TypeErasureInstance<T, WaypointInter
const std::string& getName() const final { return this->get().getName(); }
void print(const std::string& prefix) const final { this->get().print(prefix); }

std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
{
return std::make_unique<WaypointInstance<T>>(this->get());
}

private:
friend class boost::serialization::access;
friend struct tesseract_common::Serialization;
Expand Down

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