Cleanup boost serialization

tesseract-robotics · Jul 27, 2024 · 8312caa · 8312caa
1 parent 32904ca
commit 8312caa
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Showing 103 changed files with 146 additions and 138 deletions.
diff --git a/tesseract_common/include/tesseract_common/allowed_collision_matrix.h b/tesseract_common/include/tesseract_common/allowed_collision_matrix.h
@@ -111,6 +111,6 @@ class AllowedCollisionMatrix
 std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm);
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::AllowedCollisionMatrix, "AllowedCollisionMatrix")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::AllowedCollisionMatrix)
 
 #endif  // TESSERACT_SCENE_GRAPH_ALLOWED_COLLISION_MATRIX_H
diff --git a/tesseract_common/include/tesseract_common/calibration_info.h b/tesseract_common/include/tesseract_common/calibration_info.h
@@ -74,6 +74,6 @@ struct CalibrationInfo
 };
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::CalibrationInfo, "CalibrationInfo")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::CalibrationInfo)
 
 #endif  // TESSERACT_COMMON_CALIBRATION_INFO_H
diff --git a/tesseract_common/include/tesseract_common/collision_margin_data.h b/tesseract_common/include/tesseract_common/collision_margin_data.h
@@ -178,6 +178,6 @@ class CollisionMarginData
 };
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::CollisionMarginData, "CollisionMarginData")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::CollisionMarginData)
 
 #endif  // TESSERACT_COMMON_COLLISION_MARGIN_DATA_H
diff --git a/tesseract_common/include/tesseract_common/joint_state.h b/tesseract_common/include/tesseract_common/joint_state.h
@@ -28,6 +28,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <boost/serialization/export.hpp>
 #include <Eigen/Core>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
@@ -234,4 +235,7 @@ class JointTrajectory
 
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::JointState)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::JointTrajectory)
+
 #endif  // TESSERACT_COMMON_JOINT_STATE_H
diff --git a/tesseract_common/include/tesseract_common/kinematic_limits.h b/tesseract_common/include/tesseract_common/kinematic_limits.h
@@ -29,6 +29,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <boost/serialization/export.hpp>
 #include <boost/serialization/base_object.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -150,4 +151,6 @@ void enforceLimits(Eigen::Ref<Eigen::Matrix<FloatType, Eigen::Dynamic, 1>> value
 }
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::KinematicLimits)
+
 #endif  // TESSERACT_COMMON_KINEMATIC_LIMITS_H
diff --git a/tesseract_common/include/tesseract_common/manipulator_info.h b/tesseract_common/include/tesseract_common/manipulator_info.h
@@ -99,5 +99,6 @@ struct ManipulatorInfo
 };
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ManipulatorInfo)
 TESSERACT_ANY_EXPORT_KEY(tesseract_common::ManipulatorInfo, TesseractCommonManipulatorInfo)
 #endif  // TESSERACT_COMMON_MANIPULATOR_INFO_H
diff --git a/tesseract_common/include/tesseract_common/plugin_info.h b/tesseract_common/include/tesseract_common/plugin_info.h
@@ -200,10 +200,10 @@ struct TaskComposerPluginInfo
 
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfo, "PluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfoContainer, "PluginInfoContainer")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::KinematicsPluginInfo, "KinematicsPluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::ContactManagersPluginInfo, "ContactManagersPluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::TaskComposerPluginInfo, "TaskComposerPluginInfo")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfoContainer)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::KinematicsPluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ContactManagersPluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::TaskComposerPluginInfo)
 
 #endif  // TESSERACT_COMMON_PLUGIN_INFO_H
diff --git a/tesseract_common/include/tesseract_common/resource_locator.h b/tesseract_common/include/tesseract_common/resource_locator.h
@@ -241,8 +241,10 @@ class BytesResource : public tesseract_common::Resource
 
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::GeneralResourceLocator, "GeneralResourceLocator")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::SimpleLocatedResource, "SimpleLocatedResource")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::BytesResource, "BytesResource")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ResourceLocator)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::Resource)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::GeneralResourceLocator)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::SimpleLocatedResource)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::BytesResource)
 
 #endif  // TESSERACT_COMMON_RESOURCE_LOCATOR_H
diff --git a/tesseract_common/src/allowed_collision_matrix.cpp b/tesseract_common/src/allowed_collision_matrix.cpp
@@ -128,5 +128,5 @@ std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AllowedCollisionMatrix)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AllowedCollisionMatrix)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AllowedCollisionMatrix)
diff --git a/tesseract_common/src/any_poly.cpp b/tesseract_common/src/any_poly.cpp
@@ -39,12 +39,12 @@ void AnyPoly::serialize(Archive& ar, const unsigned int /*version*/)  // NOLINT
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPoly)
-
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPoly)
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPoly)
+
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralBool)
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralInt)
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralUnsigned)

diff --git a/tesseract_common/src/calibration_info.cpp b/tesseract_common/src/calibration_info.cpp
@@ -69,5 +69,5 @@ void CalibrationInfo::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CalibrationInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CalibrationInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CalibrationInfo)
diff --git a/tesseract_common/src/collision_margin_data.cpp b/tesseract_common/src/collision_margin_data.cpp
@@ -199,5 +199,5 @@ void CollisionMarginData::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CollisionMarginData)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CollisionMarginData)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CollisionMarginData)
diff --git a/tesseract_common/src/joint_state.cpp b/tesseract_common/src/joint_state.cpp
@@ -179,5 +179,7 @@ void JointTrajectory::serialize(Archive& ar, const unsigned int version)  // NOL
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::JointState)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::JointTrajectory)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::JointState)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::JointTrajectory)
diff --git a/tesseract_common/src/kinematic_limits.cpp b/tesseract_common/src/kinematic_limits.cpp
@@ -97,4 +97,5 @@ template void enforceLimits<double>(Eigen::Ref<Eigen::Matrix<double, Eigen::Dyna
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::KinematicLimits)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicLimits)
diff --git a/tesseract_common/src/manipulator_info.cpp b/tesseract_common/src/manipulator_info.cpp
@@ -108,5 +108,6 @@ void ManipulatorInfo::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ManipulatorInfo)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ManipulatorInfo)
 TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractCommonManipulatorInfo)
diff --git a/tesseract_common/src/plugin_info.cpp b/tesseract_common/src/plugin_info.cpp
@@ -292,13 +292,13 @@ void TaskComposerPluginInfo::serialize(Archive& ar, const unsigned int /*version
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::PluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfoContainer)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::PluginInfoContainer)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicsPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::KinematicsPluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ContactManagersPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ContactManagersPluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::TaskComposerPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::TaskComposerPluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfoContainer)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicsPluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ContactManagersPluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::TaskComposerPluginInfo)
diff --git a/tesseract_common/src/resource_locator.cpp b/tesseract_common/src/resource_locator.cpp
@@ -334,11 +334,13 @@ void BytesResource::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ResourceLocator)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::Resource)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::GeneralResourceLocator)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::SimpleLocatedResource)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::BytesResource)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ResourceLocator)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::GeneralResourceLocator)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::Resource)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::GeneralResourceLocator)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::SimpleLocatedResource)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::BytesResource)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::GeneralResourceLocator)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::SimpleLocatedResource)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::BytesResource)
diff --git a/tesseract_common/test/tesseract_common_serialization_unit.cpp b/tesseract_common/test/tesseract_common_serialization_unit.cpp
@@ -723,8 +723,8 @@ struct TestAtomic
   }
 };
 
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(TestAtomic)
 BOOST_CLASS_EXPORT_IMPLEMENT(TestAtomic)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(TestAtomic)
 
 TEST(TesseractCommonSerializeUnit, StdAtomic)  // NOLINT
 {

diff --git a/tesseract_environment/include/tesseract_environment/command.h b/tesseract_environment/include/tesseract_environment/command.h
@@ -107,6 +107,6 @@ class Command
 using Commands = std::vector<std::shared_ptr<const Command>>;
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::Command, "Command")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::Command)
 
 #endif  // COMMAND_H
diff --git a/...ronment/include/tesseract_environment/commands/add_contact_managers_plugin_info_command.h b/...ronment/include/tesseract_environment/commands/add_contact_managers_plugin_info_command.h
@@ -69,7 +69,6 @@ class AddContactManagersPluginInfoCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddContactManagersPluginInfoCommand,
-                        "AddContactManagersPluginInfoCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddContactManagersPluginInfoCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_CONTACT_MANAGERS_PLUGIN_INFO_COMMAND_H
diff --git a/...t_environment/include/tesseract_environment/commands/add_kinematics_information_command.h b/...t_environment/include/tesseract_environment/commands/add_kinematics_information_command.h
@@ -69,5 +69,5 @@ class AddKinematicsInformationCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddKinematicsInformationCommand, "AddKinematicsInformationCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddKinematicsInformationCommand)
 #endif  // TESSERACT_ENVIRONMENT_ADD_KINEMATICS_INFORMATION_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_link_command.h b/tesseract_environment/include/tesseract_environment/commands/add_link_command.h
@@ -113,6 +113,6 @@ class AddLinkCommand : public Command
 }  // namespace tesseract_environment
 
 #include <boost/serialization/export.hpp>
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddLinkCommand, "AddLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddLinkCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_scene_graph_command.h b/tesseract_environment/include/tesseract_environment/commands/add_scene_graph_command.h
@@ -93,6 +93,6 @@ class AddSceneGraphCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddSceneGraphCommand, "AddSceneGraphCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddSceneGraphCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_SCENE_GRAPH_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_trajectory_link_command.h b/tesseract_environment/include/tesseract_environment/commands/add_trajectory_link_command.h
@@ -95,6 +95,6 @@ class AddTrajectoryLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddTrajectoryLinkCommand, "AddTrajectoryLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddTrajectoryLinkCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_TRAJECTORY_LINK_COMMAND_H
diff --git a/...act_environment/include/tesseract_environment/commands/change_collision_margins_command.h b/...act_environment/include/tesseract_environment/commands/change_collision_margins_command.h
@@ -81,5 +81,5 @@ class ChangeCollisionMarginsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeCollisionMarginsCommand, "ChangeCollisionMarginsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeCollisionMarginsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
diff --git a/...ronment/include/tesseract_environment/commands/change_joint_acceleration_limits_command.h b/...ronment/include/tesseract_environment/commands/change_joint_acceleration_limits_command.h
@@ -77,6 +77,5 @@ class ChangeJointAccelerationLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointAccelerationLimitsCommand,
-                        "ChangeJointAccelerationLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointAccelerationLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_ACCELERATION_LIMITS_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/change_joint_origin_command.h b/tesseract_environment/include/tesseract_environment/commands/change_joint_origin_command.h
@@ -80,5 +80,5 @@ class ChangeJointOriginCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointOriginCommand, "ChangeJointOriginCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointOriginCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_ORIGIN_COMMAND_H
diff --git a/...environment/include/tesseract_environment/commands/change_joint_position_limits_command.h b/...environment/include/tesseract_environment/commands/change_joint_position_limits_command.h
@@ -78,5 +78,5 @@ class ChangeJointPositionLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointPositionLimitsCommand, "ChangeJointPositionLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointPositionLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_POSITION_LIMITS_COMMAND_H
diff --git a/...environment/include/tesseract_environment/commands/change_joint_velocity_limits_command.h b/...environment/include/tesseract_environment/commands/change_joint_velocity_limits_command.h
@@ -77,5 +77,5 @@ class ChangeJointVelocityLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointVelocityLimitsCommand, "ChangeJointVelocityLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointVelocityLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_VELOCITY_LIMITS_COMMAND_H
diff --git a/...nvironment/include/tesseract_environment/commands/change_link_collision_enabled_command.h b/...nvironment/include/tesseract_environment/commands/change_link_collision_enabled_command.h
@@ -72,5 +72,5 @@ class ChangeLinkCollisionEnabledCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkCollisionEnabledCommand, "ChangeLinkCollisionEnabledCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkCollisionEnabledCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_COLLISION_ENABLED_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/change_link_origin_command.h b/tesseract_environment/include/tesseract_environment/commands/change_link_origin_command.h
@@ -72,5 +72,5 @@ class ChangeLinkOriginCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkOriginCommand, "ChangeLinkOriginCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkOriginCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_ORIGIN_COMMAND_H
diff --git a/...eract_environment/include/tesseract_environment/commands/change_link_visibility_command.h b/...eract_environment/include/tesseract_environment/commands/change_link_visibility_command.h
@@ -72,5 +72,5 @@ class ChangeLinkVisibilityCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkVisibilityCommand, "ChangeLinkVisibilityCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkVisibilityCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_VISIBILITY_COMMAND_H
diff --git a/...ct_environment/include/tesseract_environment/commands/modify_allowed_collisions_command.h b/...ct_environment/include/tesseract_environment/commands/modify_allowed_collisions_command.h
@@ -75,6 +75,6 @@ class ModifyAllowedCollisionsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ModifyAllowedCollisionsCommand, "ModifyAllowedCollisionsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ModifyAllowedCollisionsCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_MODIFY_ALLOWED_COLLISIONS_MATRIX_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/move_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/move_joint_command.h
@@ -75,6 +75,6 @@ class MoveJointCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::MoveJointCommand, "MoveJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::MoveJointCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_MOVE_JOINT_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/move_link_command.h b/tesseract_environment/include/tesseract_environment/commands/move_link_command.h
@@ -73,5 +73,5 @@ class MoveLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::MoveLinkCommand, "MoveLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::MoveLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_MOVE_LINK_COMMAND_H
diff --git a/...nvironment/include/tesseract_environment/commands/remove_allowed_collision_link_command.h b/...nvironment/include/tesseract_environment/commands/remove_allowed_collision_link_command.h
@@ -69,5 +69,5 @@ class RemoveAllowedCollisionLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveAllowedCollisionLinkCommand, "RemoveAllowedCollisionLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveAllowedCollisionLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_ALLOWED_COLLISION_LINK_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/remove_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/remove_joint_command.h
@@ -72,5 +72,5 @@ class RemoveJointCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveJointCommand, "RemoveJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveJointCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_JOINT_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/remove_link_command.h b/tesseract_environment/include/tesseract_environment/commands/remove_link_command.h
@@ -73,5 +73,5 @@ class RemoveLinkCommand : public Command
 
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveLinkCommand, "RemoveLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_LINK_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/replace_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/replace_joint_command.h
@@ -79,5 +79,5 @@ class ReplaceJointCommand : public Command
 
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ReplaceJointCommand, "ReplaceJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ReplaceJointCommand)
 #endif  // TESSERACT_ENVIRONMENT_REPLACE_JOINT_COMMAND_H
diff --git a/...nt/include/tesseract_environment/commands/set_active_continuous_contact_manager_command.h b/...nt/include/tesseract_environment/commands/set_active_continuous_contact_manager_command.h
@@ -70,6 +70,5 @@ class SetActiveContinuousContactManagerCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::SetActiveContinuousContactManagerCommand,
-                        "SetActiveContinuousContactManagerCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::SetActiveContinuousContactManagerCommand)
 #endif  // TESSERACT_ENVIRONMENT_SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER_COMMAND_H
diff --git a/...ment/include/tesseract_environment/commands/set_active_discrete_contact_manager_command.h b/...ment/include/tesseract_environment/commands/set_active_discrete_contact_manager_command.h
@@ -69,6 +69,5 @@ class SetActiveDiscreteContactManagerCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::SetActiveDiscreteContactManagerCommand,
-                        "SetActiveDiscreteContactManagerCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::SetActiveDiscreteContactManagerCommand)
 #endif  // TESSERACT_ENVIRONMENT_SET_ACTIVE_DISCRETE_CONTACT_MANAGER_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/environment.h b/tesseract_environment/include/tesseract_environment/environment.h
@@ -552,6 +552,7 @@ class Environment
 };
 }  // namespace tesseract_environment
 
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::Environment)
 TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<const tesseract_environment::Environment>,
                          TesseractEnvironmentEnvironmentConstSharedPtr)
 TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<tesseract_environment::Environment>, TesseractEnvironmentEnvironmentSharedPtr)

diff --git a/tesseract_environment/src/commands/add_contact_managers_plugin_info_command.cpp b/tesseract_environment/src/commands/add_contact_managers_plugin_info_command.cpp
@@ -74,5 +74,5 @@ void AddContactManagersPluginInfoCommand::serialize(Archive& ar, const unsigned
 }  // namespace tesseract_environment
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddContactManagersPluginInfoCommand)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddContactManagersPluginInfoCommand)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddContactManagersPluginInfoCommand)
diff --git a/tesseract_environment/src/commands/add_kinematics_information_command.cpp b/tesseract_environment/src/commands/add_kinematics_information_command.cpp
@@ -69,5 +69,5 @@ void AddKinematicsInformationCommand::serialize(Archive& ar, const unsigned int
 }  // namespace tesseract_environment
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddKinematicsInformationCommand)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddKinematicsInformationCommand)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddKinematicsInformationCommand)
diff --git a/tesseract_environment/src/commands/add_link_command.cpp b/tesseract_environment/src/commands/add_link_command.cpp
@@ -89,5 +89,5 @@ void AddLinkCommand::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_environment
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddLinkCommand)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_environment::AddLinkCommand)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::AddLinkCommand)