Cleanup boost serialization

tesseract-robotics · Jul 28, 2024 · bc04865 · bc04865
1 parent 32904ca
commit bc04865
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Showing 104 changed files with 161 additions and 142 deletions.
diff --git a/README.md b/README.md
@@ -135,6 +135,16 @@ NOTE: Must be a clean build when generating a code coverage report. Also must bu
 
 .. NOTE: You can replace **LCOV** above with **GCOV** or **GCOVR**.
 
+## Boost Serialization
+
+This package leverages boost serialization. When adding new classes which may be inherited from and then serialized as the base type it is imported to add the following macros for the base type and all derived types.
+
+- Header
+  - `BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_common::JointLimits) // Only if abstract`
+  - `BOOST_CLASS_EXPORT_KEY(tesseract_common::JointLimits)`
+- Cpp
+  - `BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::JointLimits)`
+
 ## Create Debian Package (Linux) or NuGet Package (Windows)
 
 The following process will generate a Debian or NuGet package leveraging cmake and cpack based on the OS.

diff --git a/tesseract_common/include/tesseract_common/allowed_collision_matrix.h b/tesseract_common/include/tesseract_common/allowed_collision_matrix.h
@@ -111,6 +111,6 @@ class AllowedCollisionMatrix
 std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm);
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::AllowedCollisionMatrix, "AllowedCollisionMatrix")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::AllowedCollisionMatrix)
 
 #endif  // TESSERACT_SCENE_GRAPH_ALLOWED_COLLISION_MATRIX_H
diff --git a/tesseract_common/include/tesseract_common/calibration_info.h b/tesseract_common/include/tesseract_common/calibration_info.h
@@ -74,6 +74,6 @@ struct CalibrationInfo
 };
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::CalibrationInfo, "CalibrationInfo")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::CalibrationInfo)
 
 #endif  // TESSERACT_COMMON_CALIBRATION_INFO_H
diff --git a/tesseract_common/include/tesseract_common/collision_margin_data.h b/tesseract_common/include/tesseract_common/collision_margin_data.h
@@ -177,7 +177,5 @@ class CollisionMarginData
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 }  // namespace tesseract_common
-
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::CollisionMarginData, "CollisionMarginData")
-
+BOOST_CLASS_EXPORT_KEY(tesseract_common::CollisionMarginData)
 #endif  // TESSERACT_COMMON_COLLISION_MARGIN_DATA_H
diff --git a/tesseract_common/include/tesseract_common/joint_state.h b/tesseract_common/include/tesseract_common/joint_state.h
@@ -28,6 +28,7 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
+#include <boost/serialization/export.hpp>
 #include <Eigen/Core>
 #include <vector>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
@@ -234,4 +235,6 @@ class JointTrajectory
 
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::JointState)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::JointTrajectory)
 #endif  // TESSERACT_COMMON_JOINT_STATE_H
diff --git a/tesseract_common/include/tesseract_common/kinematic_limits.h b/tesseract_common/include/tesseract_common/kinematic_limits.h
@@ -29,6 +29,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Core>
 #include <Eigen/Geometry>
+#include <boost/serialization/export.hpp>
 #include <boost/serialization/base_object.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -150,4 +151,6 @@ void enforceLimits(Eigen::Ref<Eigen::Matrix<FloatType, Eigen::Dynamic, 1>> value
 }
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::KinematicLimits)
+
 #endif  // TESSERACT_COMMON_KINEMATIC_LIMITS_H
diff --git a/tesseract_common/include/tesseract_common/manipulator_info.h b/tesseract_common/include/tesseract_common/manipulator_info.h
@@ -99,5 +99,6 @@ struct ManipulatorInfo
 };
 }  // namespace tesseract_common
 
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ManipulatorInfo)
 TESSERACT_ANY_EXPORT_KEY(tesseract_common::ManipulatorInfo, TesseractCommonManipulatorInfo)
 #endif  // TESSERACT_COMMON_MANIPULATOR_INFO_H
diff --git a/tesseract_common/include/tesseract_common/plugin_info.h b/tesseract_common/include/tesseract_common/plugin_info.h
@@ -200,10 +200,10 @@ struct TaskComposerPluginInfo
 
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfo, "PluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::PluginInfoContainer, "PluginInfoContainer")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::KinematicsPluginInfo, "KinematicsPluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::ContactManagersPluginInfo, "ContactManagersPluginInfo")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::TaskComposerPluginInfo, "TaskComposerPluginInfo")
+BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::PluginInfoContainer)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::KinematicsPluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ContactManagersPluginInfo)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::TaskComposerPluginInfo)
 
 #endif  // TESSERACT_COMMON_PLUGIN_INFO_H
diff --git a/tesseract_common/include/tesseract_common/resource_locator.h b/tesseract_common/include/tesseract_common/resource_locator.h
@@ -240,9 +240,11 @@ class BytesResource : public tesseract_common::Resource
 };
 
 }  // namespace tesseract_common
-
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::GeneralResourceLocator, "GeneralResourceLocator")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::SimpleLocatedResource, "SimpleLocatedResource")
-BOOST_CLASS_EXPORT_KEY2(tesseract_common::BytesResource, "BytesResource")
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_common::ResourceLocator)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::ResourceLocator)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::Resource)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::GeneralResourceLocator)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::SimpleLocatedResource)
+BOOST_CLASS_EXPORT_KEY(tesseract_common::BytesResource)
 
 #endif  // TESSERACT_COMMON_RESOURCE_LOCATOR_H
diff --git a/tesseract_common/src/allowed_collision_matrix.cpp b/tesseract_common/src/allowed_collision_matrix.cpp
@@ -128,5 +128,5 @@ std::ostream& operator<<(std::ostream& os, const AllowedCollisionMatrix& acm)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AllowedCollisionMatrix)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AllowedCollisionMatrix)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AllowedCollisionMatrix)
diff --git a/tesseract_common/src/any_poly.cpp b/tesseract_common/src/any_poly.cpp
@@ -39,12 +39,12 @@ void AnyPoly::serialize(Archive& ar, const unsigned int /*version*/)  // NOLINT
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPoly)
-
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::AnyPoly)
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::AnyPoly)
+
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralBool)
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralInt)
 TESSERACT_ANY_EXPORT_IMPLEMENT(IntegralUnsigned)

diff --git a/tesseract_common/src/calibration_info.cpp b/tesseract_common/src/calibration_info.cpp
@@ -69,5 +69,5 @@ void CalibrationInfo::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CalibrationInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CalibrationInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CalibrationInfo)
diff --git a/tesseract_common/src/collision_margin_data.cpp b/tesseract_common/src/collision_margin_data.cpp
@@ -199,5 +199,5 @@ void CollisionMarginData::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CollisionMarginData)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::CollisionMarginData)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::CollisionMarginData)
diff --git a/tesseract_common/src/joint_state.cpp b/tesseract_common/src/joint_state.cpp
@@ -179,5 +179,7 @@ void JointTrajectory::serialize(Archive& ar, const unsigned int version)  // NOL
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::JointState)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::JointTrajectory)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::JointState)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::JointTrajectory)
diff --git a/tesseract_common/src/kinematic_limits.cpp b/tesseract_common/src/kinematic_limits.cpp
@@ -97,4 +97,5 @@ template void enforceLimits<double>(Eigen::Ref<Eigen::Matrix<double, Eigen::Dyna
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::KinematicLimits)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicLimits)
diff --git a/tesseract_common/src/manipulator_info.cpp b/tesseract_common/src/manipulator_info.cpp
@@ -108,5 +108,6 @@ void ManipulatorInfo::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ManipulatorInfo)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ManipulatorInfo)
 TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractCommonManipulatorInfo)
diff --git a/tesseract_common/src/plugin_info.cpp b/tesseract_common/src/plugin_info.cpp
@@ -292,13 +292,14 @@ void TaskComposerPluginInfo::serialize(Archive& ar, const unsigned int /*version
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::PluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfoContainer)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::PluginInfoContainer)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicsPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::KinematicsPluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ContactManagersPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ContactManagersPluginInfo)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::TaskComposerPluginInfo)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::TaskComposerPluginInfo)
+
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::PluginInfoContainer)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::KinematicsPluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ContactManagersPluginInfo)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::TaskComposerPluginInfo)
diff --git a/tesseract_common/src/resource_locator.cpp b/tesseract_common/src/resource_locator.cpp
@@ -334,11 +334,14 @@ void BytesResource::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_common
 
 #include <tesseract_common/serialization.h>
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::ResourceLocator)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::Resource)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::GeneralResourceLocator)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::SimpleLocatedResource)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::BytesResource)
+
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::ResourceLocator)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::GeneralResourceLocator)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::Resource)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::GeneralResourceLocator)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::SimpleLocatedResource)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_common::BytesResource)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::GeneralResourceLocator)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::SimpleLocatedResource)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_common::BytesResource)
diff --git a/tesseract_common/test/tesseract_common_serialization_unit.cpp b/tesseract_common/test/tesseract_common_serialization_unit.cpp
@@ -723,8 +723,8 @@ struct TestAtomic
   }
 };
 
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(TestAtomic)
 BOOST_CLASS_EXPORT_IMPLEMENT(TestAtomic)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(TestAtomic)
 
 TEST(TesseractCommonSerializeUnit, StdAtomic)  // NOLINT
 {

diff --git a/tesseract_environment/include/tesseract_environment/command.h b/tesseract_environment/include/tesseract_environment/command.h
@@ -107,6 +107,6 @@ class Command
 using Commands = std::vector<std::shared_ptr<const Command>>;
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::Command, "Command")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::Command)
 
 #endif  // COMMAND_H
diff --git a/...ronment/include/tesseract_environment/commands/add_contact_managers_plugin_info_command.h b/...ronment/include/tesseract_environment/commands/add_contact_managers_plugin_info_command.h
@@ -69,7 +69,6 @@ class AddContactManagersPluginInfoCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddContactManagersPluginInfoCommand,
-                        "AddContactManagersPluginInfoCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddContactManagersPluginInfoCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_CONTACT_MANAGERS_PLUGIN_INFO_COMMAND_H
diff --git a/...t_environment/include/tesseract_environment/commands/add_kinematics_information_command.h b/...t_environment/include/tesseract_environment/commands/add_kinematics_information_command.h
@@ -69,5 +69,5 @@ class AddKinematicsInformationCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddKinematicsInformationCommand, "AddKinematicsInformationCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddKinematicsInformationCommand)
 #endif  // TESSERACT_ENVIRONMENT_ADD_KINEMATICS_INFORMATION_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_link_command.h b/tesseract_environment/include/tesseract_environment/commands/add_link_command.h
@@ -113,6 +113,6 @@ class AddLinkCommand : public Command
 }  // namespace tesseract_environment
 
 #include <boost/serialization/export.hpp>
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddLinkCommand, "AddLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddLinkCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_scene_graph_command.h b/tesseract_environment/include/tesseract_environment/commands/add_scene_graph_command.h
@@ -93,6 +93,6 @@ class AddSceneGraphCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddSceneGraphCommand, "AddSceneGraphCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddSceneGraphCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_SCENE_GRAPH_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/add_trajectory_link_command.h b/tesseract_environment/include/tesseract_environment/commands/add_trajectory_link_command.h
@@ -95,6 +95,6 @@ class AddTrajectoryLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::AddTrajectoryLinkCommand, "AddTrajectoryLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::AddTrajectoryLinkCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_ADD_TRAJECTORY_LINK_COMMAND_H
diff --git a/...act_environment/include/tesseract_environment/commands/change_collision_margins_command.h b/...act_environment/include/tesseract_environment/commands/change_collision_margins_command.h
@@ -81,5 +81,5 @@ class ChangeCollisionMarginsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeCollisionMarginsCommand, "ChangeCollisionMarginsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeCollisionMarginsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_COLLISION_MARGINS_COMMAND_H
diff --git a/...ronment/include/tesseract_environment/commands/change_joint_acceleration_limits_command.h b/...ronment/include/tesseract_environment/commands/change_joint_acceleration_limits_command.h
@@ -77,6 +77,5 @@ class ChangeJointAccelerationLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointAccelerationLimitsCommand,
-                        "ChangeJointAccelerationLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointAccelerationLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_ACCELERATION_LIMITS_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/change_joint_origin_command.h b/tesseract_environment/include/tesseract_environment/commands/change_joint_origin_command.h
@@ -80,5 +80,5 @@ class ChangeJointOriginCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointOriginCommand, "ChangeJointOriginCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointOriginCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_ORIGIN_COMMAND_H
diff --git a/...environment/include/tesseract_environment/commands/change_joint_position_limits_command.h b/...environment/include/tesseract_environment/commands/change_joint_position_limits_command.h
@@ -78,5 +78,5 @@ class ChangeJointPositionLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointPositionLimitsCommand, "ChangeJointPositionLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointPositionLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_POSITION_LIMITS_COMMAND_H
diff --git a/...environment/include/tesseract_environment/commands/change_joint_velocity_limits_command.h b/...environment/include/tesseract_environment/commands/change_joint_velocity_limits_command.h
@@ -77,5 +77,5 @@ class ChangeJointVelocityLimitsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeJointVelocityLimitsCommand, "ChangeJointVelocityLimitsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeJointVelocityLimitsCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_JOINT_VELOCITY_LIMITS_COMMAND_H
diff --git a/...nvironment/include/tesseract_environment/commands/change_link_collision_enabled_command.h b/...nvironment/include/tesseract_environment/commands/change_link_collision_enabled_command.h
@@ -72,5 +72,5 @@ class ChangeLinkCollisionEnabledCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkCollisionEnabledCommand, "ChangeLinkCollisionEnabledCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkCollisionEnabledCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_COLLISION_ENABLED_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/change_link_origin_command.h b/tesseract_environment/include/tesseract_environment/commands/change_link_origin_command.h
@@ -72,5 +72,5 @@ class ChangeLinkOriginCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkOriginCommand, "ChangeLinkOriginCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkOriginCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_ORIGIN_COMMAND_H
diff --git a/...eract_environment/include/tesseract_environment/commands/change_link_visibility_command.h b/...eract_environment/include/tesseract_environment/commands/change_link_visibility_command.h
@@ -72,5 +72,5 @@ class ChangeLinkVisibilityCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ChangeLinkVisibilityCommand, "ChangeLinkVisibilityCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ChangeLinkVisibilityCommand)
 #endif  // TESSERACT_ENVIRONMENT_CHANGE_LINK_VISIBILITY_COMMAND_H
diff --git a/...ct_environment/include/tesseract_environment/commands/modify_allowed_collisions_command.h b/...ct_environment/include/tesseract_environment/commands/modify_allowed_collisions_command.h
@@ -75,6 +75,6 @@ class ModifyAllowedCollisionsCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ModifyAllowedCollisionsCommand, "ModifyAllowedCollisionsCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ModifyAllowedCollisionsCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_MODIFY_ALLOWED_COLLISIONS_MATRIX_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/move_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/move_joint_command.h
@@ -75,6 +75,6 @@ class MoveJointCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::MoveJointCommand, "MoveJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::MoveJointCommand)
 
 #endif  // TESSERACT_ENVIRONMENT_MOVE_JOINT_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/move_link_command.h b/tesseract_environment/include/tesseract_environment/commands/move_link_command.h
@@ -73,5 +73,5 @@ class MoveLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::MoveLinkCommand, "MoveLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::MoveLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_MOVE_LINK_COMMAND_H
diff --git a/...nvironment/include/tesseract_environment/commands/remove_allowed_collision_link_command.h b/...nvironment/include/tesseract_environment/commands/remove_allowed_collision_link_command.h
@@ -69,5 +69,5 @@ class RemoveAllowedCollisionLinkCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveAllowedCollisionLinkCommand, "RemoveAllowedCollisionLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveAllowedCollisionLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_ALLOWED_COLLISION_LINK_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/remove_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/remove_joint_command.h
@@ -72,5 +72,5 @@ class RemoveJointCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveJointCommand, "RemoveJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveJointCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_JOINT_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/remove_link_command.h b/tesseract_environment/include/tesseract_environment/commands/remove_link_command.h
@@ -73,5 +73,5 @@ class RemoveLinkCommand : public Command
 
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::RemoveLinkCommand, "RemoveLinkCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::RemoveLinkCommand)
 #endif  // TESSERACT_ENVIRONMENT_REMOVE_LINK_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/commands/replace_joint_command.h b/tesseract_environment/include/tesseract_environment/commands/replace_joint_command.h
@@ -79,5 +79,5 @@ class ReplaceJointCommand : public Command
 
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::ReplaceJointCommand, "ReplaceJointCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::ReplaceJointCommand)
 #endif  // TESSERACT_ENVIRONMENT_REPLACE_JOINT_COMMAND_H
diff --git a/...nt/include/tesseract_environment/commands/set_active_continuous_contact_manager_command.h b/...nt/include/tesseract_environment/commands/set_active_continuous_contact_manager_command.h
@@ -70,6 +70,5 @@ class SetActiveContinuousContactManagerCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::SetActiveContinuousContactManagerCommand,
-                        "SetActiveContinuousContactManagerCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::SetActiveContinuousContactManagerCommand)
 #endif  // TESSERACT_ENVIRONMENT_SET_ACTIVE_CONTINUOUS_CONTACT_MANAGER_COMMAND_H
diff --git a/...ment/include/tesseract_environment/commands/set_active_discrete_contact_manager_command.h b/...ment/include/tesseract_environment/commands/set_active_discrete_contact_manager_command.h
@@ -69,6 +69,5 @@ class SetActiveDiscreteContactManagerCommand : public Command
 };
 }  // namespace tesseract_environment
 
-BOOST_CLASS_EXPORT_KEY2(tesseract_environment::SetActiveDiscreteContactManagerCommand,
-                        "SetActiveDiscreteContactManagerCommand")
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::SetActiveDiscreteContactManagerCommand)
 #endif  // TESSERACT_ENVIRONMENT_SET_ACTIVE_DISCRETE_CONTACT_MANAGER_COMMAND_H
diff --git a/tesseract_environment/include/tesseract_environment/environment.h b/tesseract_environment/include/tesseract_environment/environment.h
@@ -551,7 +551,7 @@ class Environment
   explicit Environment(std::unique_ptr<Implementation> impl);
 };
 }  // namespace tesseract_environment
-
+BOOST_CLASS_EXPORT_KEY(tesseract_environment::Environment)
 TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<const tesseract_environment::Environment>,
                          TesseractEnvironmentEnvironmentConstSharedPtr)
 TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<tesseract_environment::Environment>, TesseractEnvironmentEnvironmentSharedPtr)