Add any poly support for environment

tesseract-robotics · Jul 24, 2024 · 90476c9 · 90476c9
1 parent 5ec82a0
commit 90476c9
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diff --git a/tesseract_environment/include/tesseract_environment/environment.h b/tesseract_environment/include/tesseract_environment/environment.h
@@ -49,6 +49,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/filesystem.h>
 #include <tesseract_common/eigen_types.h>
+#include <tesseract_common/any_poly.h>
 
 namespace boost::serialization
 {
@@ -551,4 +552,7 @@ class Environment
 };
 }  // namespace tesseract_environment
 
+TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<const tesseract_environment::Environment>,
+                         TesseractEnvironmentEnvironmentConstSharedPtr)
+TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<tesseract_environment::Environment>, TesseractEnvironmentEnvironmentSharedPtr)
 #endif  // TESSERACT_ENVIRONMENT_ENVIRONMENT_H
diff --git a/tesseract_environment/src/environment.cpp b/tesseract_environment/src/environment.cpp
@@ -2691,3 +2691,6 @@ void Environment::serialize(Archive& ar, const unsigned int version)
 
 #include <tesseract_common/serialization.h>
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_environment::Environment)
+
+TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractEnvironmentEnvironmentConstSharedPtr)
+TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractEnvironmentEnvironmentSharedPtr)