From b4b064a1520b3d9c6dd36b299ade93af3226225c Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Fri, 29 Nov 2024 23:53:07 -0600
Subject: [PATCH] Simplify type erasure

---
 .../include/tesseract_common/any_poly.h       | 13 ++++----
 .../include/tesseract_common/type_erasure.h   | 33 ++++---------------
 2 files changed, 13 insertions(+), 33 deletions(-)

diff --git a/tesseract_common/include/tesseract_common/any_poly.h b/tesseract_common/include/tesseract_common/any_poly.h
index 0650cb46d93..1224b25434d 100644
--- a/tesseract_common/include/tesseract_common/any_poly.h
+++ b/tesseract_common/include/tesseract_common/any_poly.h
@@ -46,20 +46,16 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
   {                                                                                                                    \
   using K##AnyInstanceBase = tesseract_common::TypeErasureInstance<C, tesseract_common::TypeErasureInterface>;         \
   using K##AnyInstance = tesseract_common::detail_any::AnyInstance<C>;                                                 \
-  using K##AnyInstanceWrapper = tesseract_common::TypeErasureInstanceWrapper<K##AnyInstance>;                          \
   }                                                                                                                    \
   BOOST_CLASS_EXPORT_KEY(tesseract_serialization::any_poly::K##AnyInstanceBase)                                        \
   BOOST_CLASS_EXPORT_KEY(tesseract_serialization::any_poly::K##AnyInstance)                                            \
-  BOOST_CLASS_EXPORT_KEY(tesseract_serialization::any_poly::K##AnyInstanceWrapper)                                     \
   BOOST_CLASS_TRACKING(tesseract_serialization::any_poly::K##AnyInstanceBase, boost::serialization::track_never)       \
-  BOOST_CLASS_TRACKING(tesseract_serialization::any_poly::K##AnyInstance, boost::serialization::track_never)           \
-  BOOST_CLASS_TRACKING(tesseract_serialization::any_poly::K##AnyInstanceWrapper, boost::serialization::track_never)
+  BOOST_CLASS_TRACKING(tesseract_serialization::any_poly::K##AnyInstance, boost::serialization::track_never)
 
 /** @brief If shared library, this must go in the cpp after the implicit instantiation of the serialize function */
 #define TESSERACT_ANY_EXPORT_IMPLEMENT(K)                                                                              \
   BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_serialization::any_poly::K##AnyInstanceBase)                                  \
-  BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_serialization::any_poly::K##AnyInstance)                                      \
-  BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_serialization::any_poly::K##AnyInstanceWrapper)
+  BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_serialization::any_poly::K##AnyInstance)
 
 /**
  * @brief This should not be used within shared libraries use the two above.
@@ -102,6 +98,11 @@ struct AnyInstance : tesseract_common::TypeErasureInstance<T, tesseract_common::
 
   BOOST_CONCEPT_ASSERT((AnyConcept<T>));
 
+  std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const final
+  {
+    return std::make_unique<AnyInstance<T>>(this->get());
+  }
+
 private:
   friend class boost::serialization::access;
   friend struct tesseract_common::Serialization;
diff --git a/tesseract_common/include/tesseract_common/type_erasure.h b/tesseract_common/include/tesseract_common/type_erasure.h
index cb5da046d10..166cb0ccc51 100644
--- a/tesseract_common/include/tesseract_common/type_erasure.h
+++ b/tesseract_common/include/tesseract_common/type_erasure.h
@@ -95,34 +95,12 @@ struct TypeErasureInstance : ConceptInterface
     return this->getType() == other.getType() && this->get() == *static_cast<const ConceptValueType*>(other.recover());
   }
 
-  ConcreteType value_;
-
-private:
-  friend class boost::serialization::access;
-  friend struct tesseract_common::Serialization;
-  template <class Archive>
-  void serialize(Archive& ar, const unsigned int /*version*/)  // NOLINT
+  std::unique_ptr<tesseract_common::TypeErasureInterface> clone() const override
   {
-    // If this line is removed a exception is thrown for unregistered cast need to too look into this.
-    ar& boost::serialization::make_nvp("base", boost::serialization::base_object<ConceptInterface>(*this));
-    ar& boost::serialization::make_nvp("impl", value_);
+    throw std::runtime_error("This should never be called!");
   }
-};
-
-template <typename F>
-struct TypeErasureInstanceWrapper : F  // NOLINT
-{
-  using ConceptValueType = typename F::ConceptValueType;
-  using ConceptInterfaceType = typename F::ConceptInterfaceType;
 
-  TypeErasureInstanceWrapper() = default;
-  TypeErasureInstanceWrapper(const ConceptValueType& x) : F(x) {}
-  TypeErasureInstanceWrapper(TypeErasureInstanceWrapper&& x) noexcept : F(std::move(x)) {}
-
-  std::unique_ptr<TypeErasureInterface> clone() const final
-  {
-    return std::make_unique<TypeErasureInstanceWrapper<F>>(this->get());
-  }
+  ConcreteType value_;
 
 private:
   friend class boost::serialization::access;
@@ -131,7 +109,8 @@ struct TypeErasureInstanceWrapper : F  // NOLINT
   void serialize(Archive& ar, const unsigned int /*version*/)  // NOLINT
   {
     // If this line is removed a exception is thrown for unregistered cast need to too look into this.
-    ar& boost::serialization::make_nvp("base", boost::serialization::base_object<F>(*this));
+    ar& boost::serialization::make_nvp("base", boost::serialization::base_object<ConceptInterface>(*this));
+    ar& boost::serialization::make_nvp("impl", value_);
   }
 };
 
@@ -152,7 +131,7 @@ struct TypeErasureBase
 
   template <typename T, generic_ctor_enabler<T> = 0>
   TypeErasureBase(T&& value)  // NOLINT
-    : value_(std::make_unique<TypeErasureInstanceWrapper<ConceptInstance<uncvref_t<T>>>>(value))
+    : value_(std::make_unique<ConceptInstance<uncvref_t<T>>>(value))
   {
   }