Merge branch 'master' into feature/new-descartes-profiles

tesseract-robotics · Dec 18, 2024 · 5f46358 · 5f46358
2 parents a69dffe + 51f87af
commit 5f46358
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Showing 3 changed files with 24 additions and 4 deletions.
diff --git a/tesseract_command_language/include/tesseract_command_language/profile.h b/tesseract_command_language/include/tesseract_command_language/profile.h
@@ -43,10 +43,6 @@ class Profile
 
   Profile() = default;
   Profile(std::size_t key);
-  Profile(const Profile&) = delete;
-  Profile& operator=(const Profile&) = delete;
-  Profile(Profile&&) = delete;
-  Profile&& operator=(Profile&&) = delete;
   virtual ~Profile() = default;
 
   /**
@@ -56,6 +52,11 @@ class Profile
   std::size_t getKey() const;
 
 protected:
+  Profile(const Profile&) = default;
+  Profile& operator=(const Profile&) = default;
+  Profile(Profile&&) = default;
+  Profile& operator=(Profile&&) = default;
+
   std::size_t key_{ 0 };
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/...g/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h b/...g/include/tesseract_task_composer/planning/profiles/ruckig_trajectory_smoothing_profile.h
@@ -64,6 +64,11 @@ struct RuckigTrajectorySmoothingCompositeProfile : public Profile
 
   /** @brief max_jerk_scaling_factor The max jerk scaling factor passed to the solver */
   double max_jerk_scaling_factor{ 1.0 };
+
+protected:
+  friend class boost::serialization::access;
+  template <class Archive>
+  void serialize(Archive&, const unsigned int);  // NOLINT
 };
 
 struct RuckigTrajectorySmoothingMoveProfile : public Profile
@@ -96,6 +101,7 @@ struct RuckigTrajectorySmoothingMoveProfile : public Profile
 };
 }  // namespace tesseract_planning
 
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)
 
 #endif  // TESSERACT_TASK_COMPOSER_RUCKIG_TRAJECTORY_SMOOTHING_PROFILE_H
diff --git a/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp b/tesseract_task_composer/planning/src/profiles/ruckig_trajectory_smoothing_profile.cpp
@@ -52,6 +52,17 @@ std::size_t RuckigTrajectorySmoothingCompositeProfile::getStaticKey()
   return std::type_index(typeid(RuckigTrajectorySmoothingCompositeProfile)).hash_code();
 }
 
+template <class Archive>
+void RuckigTrajectorySmoothingCompositeProfile::serialize(Archive& ar, const unsigned int /*version*/)
+{
+  ar& BOOST_SERIALIZATION_BASE_OBJECT_NVP(Profile);
+  ar& BOOST_SERIALIZATION_NVP(duration_extension_fraction);
+  ar& BOOST_SERIALIZATION_NVP(max_duration_extension_factor);
+  ar& BOOST_SERIALIZATION_NVP(max_velocity_scaling_factor);
+  ar& BOOST_SERIALIZATION_NVP(max_acceleration_scaling_factor);
+  ar& BOOST_SERIALIZATION_NVP(max_jerk_scaling_factor);
+}
+
 RuckigTrajectorySmoothingMoveProfile::RuckigTrajectorySmoothingMoveProfile()
   : Profile(RuckigTrajectorySmoothingMoveProfile::getStaticKey())
 {
@@ -81,5 +92,7 @@ void RuckigTrajectorySmoothingMoveProfile::serialize(Archive& ar, const unsigned
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::RuckigTrajectorySmoothingCompositeProfile)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::RuckigTrajectorySmoothingMoveProfile)