Add integral any poly types

tesseract-robotics · Jul 21, 2024 · d096ca0 · d096ca0
1 parent 03098fc
commit d096ca0
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Showing 3 changed files with 62 additions and 0 deletions.
diff --git a/tesseract_common/include/tesseract_common/any_poly.h b/tesseract_common/include/tesseract_common/any_poly.h
@@ -35,6 +35,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_common/serialization.h>
 #include <tesseract_common/type_erasure.h>
 
+#include <string>
+
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_ANY_EXPORT_KEY(C, K)                                                                                 \
   namespace tesseract_serialization::any_poly                                                                          \
@@ -78,6 +80,7 @@ struct AnyConcept  // NOLINT
     A assign = c;
     bool eq = (c == cp);
     bool neq = (c != cp);
+    UNUSED(assign);
     UNUSED(eq);
     UNUSED(neq);
   }
@@ -131,4 +134,10 @@ BOOST_CLASS_TRACKING(tesseract_common::AnyPolyBase, boost::serialization::track_
 BOOST_CLASS_EXPORT_KEY(tesseract_common::AnyPoly)
 BOOST_CLASS_TRACKING(tesseract_common::AnyPoly, boost::serialization::track_never)
 
+TESSERACT_ANY_EXPORT_KEY(bool, IntegralBool)
+TESSERACT_ANY_EXPORT_KEY(int, IntegralInt)
+TESSERACT_ANY_EXPORT_KEY(unsigned, IntegralUnsigned)
+TESSERACT_ANY_EXPORT_KEY(double, IntegralDouble)
+TESSERACT_ANY_EXPORT_KEY(float, IntegralFloat)
+TESSERACT_ANY_EXPORT_KEY(std::string, StdString)
 #endif  // TESSERACT_COMMON_ANY_POLY_H
diff --git a/tesseract_common/src/any_poly.cpp b/tesseract_common/src/any_poly.cpp
@@ -42,3 +42,10 @@ TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPoly)
 
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPoly)
+
+TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralBool)
+TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralInt)
+TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralUnsigned)
+TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralDouble)
+TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralFloat)
+TESSERACT_ANY_EXPORT_IMPLEMENT(StdString)
diff --git a/tesseract_common/test/tesseract_common_unit.cpp b/tesseract_common/test/tesseract_common_unit.cpp
@@ -414,6 +414,52 @@ TEST(TesseractCommonUnit, anyUnit)  // NOLINT
   EXPECT_ANY_THROW(nany_type.as<tesseract_common::Toolpath>());  // NOLINT
 }
 
+template <typename T>
+void runAnyPolyTest(T value, const std::string& type_str)
+{
+  tesseract_common::AnyPoly any_type{ value };
+  EXPECT_TRUE(any_type.getType() == std::type_index(typeid(T)));
+  EXPECT_TRUE(any_type.as<T>() == value);
+
+  // Check clone
+  tesseract_common::AnyPoly any_copy = any_type;
+  EXPECT_TRUE(any_copy == any_type);
+  EXPECT_TRUE(any_copy.as<T>() == value);
+
+  const std::string filepath{ tesseract_common::getTempPath() + "any_" + type_str + "_type_boost.xml" };
+  {
+    std::ofstream os(filepath);
+    boost::archive::xml_oarchive oa(os);
+    oa << BOOST_SERIALIZATION_NVP(any_type);
+  }
+
+  tesseract_common::AnyPoly nany_type;
+  {
+    std::ifstream ifs(filepath);
+    assert(ifs.good());
+    boost::archive::xml_iarchive ia(ifs);
+
+    // restore the schedule from the archive
+    ia >> BOOST_SERIALIZATION_NVP(nany_type);
+  }
+
+  EXPECT_TRUE(nany_type.getType() == std::type_index(typeid(T)));
+  EXPECT_TRUE(nany_type.as<T>() == value);
+
+  // Test bad cast
+  EXPECT_ANY_THROW(nany_type.as<tesseract_common::Toolpath>());  // NOLINT
+}
+
+TEST(TesseractCommonUnit, anyIntegralTypesUnit)  // NOLINT
+{
+  runAnyPolyTest<bool>(true, "bool");
+  runAnyPolyTest<int>(-10, "int");
+  runAnyPolyTest<unsigned>(5, "unsigned");
+  runAnyPolyTest<double>(1.2, "double");
+  runAnyPolyTest<float>(-0.2F, "float");
+  runAnyPolyTest<std::string>("this", "string");
+}
+
 TEST(TesseractCommonUnit, anySharedPtrUnit)  // NOLINT
 {
   tesseract_common::AnyPoly any_type;