From 90476c96635a65aabb5762ddd343f6040ea5b244 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Wed, 24 Jul 2024 13:13:22 -0500
Subject: [PATCH] Add any poly support for environment

---
 .../include/tesseract_environment/environment.h               | 4 ++++
 tesseract_environment/src/environment.cpp                     | 3 +++
 2 files changed, 7 insertions(+)

diff --git a/tesseract_environment/include/tesseract_environment/environment.h b/tesseract_environment/include/tesseract_environment/environment.h
index 67cf1062417..835bf04a50f 100644
--- 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
index 0222f220fbb..0108ee51c13 100644
--- 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)