Update to use forward declarations (#449)

tesseract_command_language/include/tesseract_command_language/cartesian_waypoint.h

@@ -28,7 +28,6 @@
 
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
-#include <Eigen/Core>
 #include <Eigen/Geometry>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -102,6 +101,6 @@ class CartesianWaypoint
 
 }  // namespace tesseract_planning
 
-TESSERACT_CARTESIAN_WAYPOINT_EXPORT_KEY(tesseract_planning, CartesianWaypoint);
+TESSERACT_CARTESIAN_WAYPOINT_EXPORT_KEY(tesseract_planning, CartesianWaypoint)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_CARTESIAN_WAYPOINT_H

tesseract_command_language/include/tesseract_command_language/composite_instruction.h

@@ -31,18 +31,20 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <string>
 #include <variant>
+#include <Eigen/Core>
+#include <boost/uuid/uuid.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/instruction_poly.h>
-#include <tesseract_command_language/poly/move_instruction_poly.h>
 #include <tesseract_command_language/constants.h>
-#include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_common/manipulator_info.h>
 #include <tesseract_common/any_poly.h>
 
 namespace tesseract_planning
 {
 class CompositeInstruction;
+class ProfileDictionary;
+struct MoveInstructionPoly;
 
 /**
  * @brief This is used for filtering only what you want in the vector
@@ -134,16 +136,16 @@ class CompositeInstruction
   void setProfile(const std::string& profile);
   const std::string& getProfile() const;
 
-  void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
-  ProfileDictionary::ConstPtr getProfileOverrides() const;
+  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
+  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
 
   void setManipulatorInfo(tesseract_common::ManipulatorInfo info);
   const tesseract_common::ManipulatorInfo& getManipulatorInfo() const;
   tesseract_common::ManipulatorInfo& getManipulatorInfo();
 
-  void setInstructions(std::vector<tesseract_planning::InstructionPoly> instructions);
-  std::vector<tesseract_planning::InstructionPoly>& getInstructions();
-  const std::vector<tesseract_planning::InstructionPoly>& getInstructions() const;
+  void setInstructions(std::vector<InstructionPoly> instructions);
+  std::vector<InstructionPoly>& getInstructions();
+  const std::vector<InstructionPoly>& getInstructions() const;
 
   void appendMoveInstruction(const MoveInstructionPoly& mi);
   void appendMoveInstruction(const MoveInstructionPoly&& mi);
@@ -407,7 +409,7 @@ class CompositeInstruction
   std::string profile_{ DEFAULT_PROFILE_KEY };
 
   /** @brief Dictionary of profiles that will override named profiles for a specific task*/
-  ProfileDictionary::ConstPtr profile_overrides_;
+  std::shared_ptr<const ProfileDictionary> profile_overrides_;
 
   /** @brief The order of the composite instruction */
   CompositeInstructionOrder order_{ CompositeInstructionOrder::ORDERED };
@@ -464,7 +466,7 @@ class CompositeInstruction
 
 }  // namespace tesseract_planning
 
-TESSERACT_INSTRUCTION_EXPORT_KEY(tesseract_planning, CompositeInstruction);
-TESSERACT_ANY_EXPORT_KEY(tesseract_planning, CompositeInstruction);
+TESSERACT_INSTRUCTION_EXPORT_KEY(tesseract_planning, CompositeInstruction)
+TESSERACT_ANY_EXPORT_KEY(tesseract_planning, CompositeInstruction)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_COMPOSITE_INSTRUCTION_H

tesseract_command_language/include/tesseract_command_language/fwd.h

@@ -0,0 +1,36 @@
+#ifndef TESSERACT_COMMAND_LANGUAGE_FWD_H
+#define TESSERACT_COMMAND_LANGUAGE_FWD_H
+
+namespace tesseract_planning
+{
+// Waypoint Poly
+struct WaypointPoly;
+struct CartesianWaypointPoly;
+struct JointWaypointPoly;
+struct StateWaypointPoly;
+
+// Waypoints
+class CartesianWaypoint;
+class JointWaypoint;
+class StateWaypoint;
+
+// Instruction Poly
+struct InstructionPoly;
+enum class MoveInstructionType : int;
+struct MoveInstructionPoly;
+
+// Instructions
+enum class CompositeInstructionOrder;
+class CompositeInstruction;
+class MoveInstruction;
+class SetAnalogInstruction;
+class SetToolInstruction;
+enum class TimerInstructionType : int;
+class TimerInstruction;
+enum class WaitInstructionType : int;
+class WaitInstruction;
+
+// Profile Dictionary
+class ProfileDictionary;
+}  // namespace tesseract_planning
+#endif  // TESSERACT_COMMAND_LANGUAGE_FWD_H

tesseract_command_language/include/tesseract_command_language/joint_waypoint.h

@@ -33,7 +33,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/joint_waypoint_poly.h>
-#include <tesseract_common/utils.h>
 
 namespace tesseract_planning
 {

tesseract_command_language/include/tesseract_command_language/move_instruction.h

@@ -29,16 +29,17 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <Eigen/Geometry>
+#include <boost/uuid/uuid.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/move_instruction_poly.h>
 #include <tesseract_command_language/poly/waypoint_poly.h>
 #include <tesseract_command_language/constants.h>
-#include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_common/manipulator_info.h>
 
 namespace tesseract_planning
 {
+class ProfileDictionary;
 /**
  * @brief The move instruction is used when defining the results of a motion planning request
  * @details
@@ -143,11 +144,11 @@ class MoveInstruction
   void setPathProfile(const std::string& profile);
   const std::string& getPathProfile() const;
 
-  void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
-  ProfileDictionary::ConstPtr getProfileOverrides() const;
+  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
+  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
 
-  void setPathProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
-  ProfileDictionary::ConstPtr getPathProfileOverrides() const;
+  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
+  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const;
 
   const std::string& getDescription() const;
 
@@ -182,10 +183,10 @@ class MoveInstruction
   std::string path_profile_;
 
   /** @brief Dictionary of profiles that will override named profiles for a specific task*/
-  ProfileDictionary::ConstPtr profile_overrides_;
+  std::shared_ptr<const ProfileDictionary> profile_overrides_;
 
   /** @brief Dictionary of path profiles that will override named profiles for a specific task*/
-  ProfileDictionary::ConstPtr path_profile_overrides_;
+  std::shared_ptr<const ProfileDictionary> path_profile_overrides_;
 
   /** @brief The assigned waypoint (Cartesian, Joint or State) */
   WaypointPoly waypoint_;

tesseract_command_language/include/tesseract_command_language/poly/cartesian_waypoint_poly.h

@@ -29,15 +29,17 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <boost/serialization/base_object.hpp>
+#include <Eigen/Geometry>
+#include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/base_object.hpp>
 #include <boost/concept_check.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/waypoint_poly.h>
-#include <tesseract_common/joint_state.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_common/type_erasure.h>
+#include <tesseract_common/joint_state.h>
+#include <tesseract_common/fwd.h>
 
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_CARTESIAN_WAYPOINT_EXPORT_KEY(N, C)                                                                  \
@@ -265,8 +267,8 @@ BOOST_CLASS_EXPORT_KEY(tesseract_planning::CartesianWaypointPolyBase)
 BOOST_CLASS_TRACKING(tesseract_planning::CartesianWaypointPolyBase, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::CartesianWaypointPoly)
-BOOST_CLASS_TRACKING(tesseract_planning::CartesianWaypointPoly, boost::serialization::track_never);
+BOOST_CLASS_TRACKING(tesseract_planning::CartesianWaypointPoly, boost::serialization::track_never)
 
-TESSERACT_WAYPOINT_EXPORT_KEY(tesseract_planning, CartesianWaypointPoly);
+TESSERACT_WAYPOINT_EXPORT_KEY(tesseract_planning, CartesianWaypointPoly)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_CARTESIAN_WAYPOINT_POLY_H

tesseract_command_language/include/tesseract_command_language/poly/instruction_poly.h

@@ -29,16 +29,21 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/nvp.hpp>
 #include <boost/concept_check.hpp>
-#include <boost/uuid/uuid.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
-#include <tesseract_command_language/poly/waypoint_poly.h>
-#include <tesseract_common/serialization.h>
+#include <tesseract_common/fwd.h>
 #include <tesseract_common/type_erasure.h>
 
+namespace boost::uuids
+{
+struct uuid;
+}
+
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_INSTRUCTION_EXPORT_KEY(N, C)                                                                         \
   namespace N                                                                                                          \
@@ -207,6 +212,6 @@ BOOST_CLASS_EXPORT_KEY(tesseract_planning::InstructionPolyBase)
 BOOST_CLASS_TRACKING(tesseract_planning::InstructionPolyBase, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::InstructionPoly)
-BOOST_CLASS_TRACKING(tesseract_planning::InstructionPoly, boost::serialization::track_never);
+BOOST_CLASS_TRACKING(tesseract_planning::InstructionPoly, boost::serialization::track_never)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_INSTRUCTION_H

tesseract_command_language/include/tesseract_command_language/poly/joint_waypoint_poly.h

@@ -29,14 +29,16 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <boost/serialization/base_object.hpp>
+#include <Eigen/Core>
+#include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/base_object.hpp>
 #include <boost/concept_check.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/waypoint_poly.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_common/type_erasure.h>
+#include <tesseract_common/fwd.h>
 
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_JOINT_WAYPOINT_EXPORT_KEY(N, C)                                                                      \

tesseract_command_language/include/tesseract_command_language/poly/move_instruction_poly.h

@@ -29,21 +29,20 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <boost/serialization/base_object.hpp>
+#include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/base_object.hpp>
 #include <boost/concept_check.hpp>
-#include <boost/uuid/uuid.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/instruction_poly.h>
 #include <tesseract_command_language/poly/cartesian_waypoint_poly.h>
 #include <tesseract_command_language/poly/joint_waypoint_poly.h>
 #include <tesseract_command_language/poly/state_waypoint_poly.h>
 #include <tesseract_command_language/poly/waypoint_poly.h>
-#include <tesseract_command_language/profile_dictionary.h>
 #include <tesseract_common/manipulator_info.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_common/type_erasure.h>
+#include <tesseract_common/fwd.h>
 
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_MOVE_INSTRUCTION_EXPORT_KEY(N, C)                                                                    \
@@ -78,6 +77,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 struct MoveInstructionPoly;
+class ProfileDictionary;
 
 enum class MoveInstructionType : int
 {
@@ -189,11 +189,11 @@ struct MoveInstructionInterface : tesseract_common::TypeErasureInterface
   virtual void setPathProfile(const std::string& profile) = 0;
   virtual const std::string& getPathProfile() const = 0;
 
-  virtual void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides) = 0;
-  virtual ProfileDictionary::ConstPtr getProfileOverrides() const = 0;
+  virtual void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) = 0;
+  virtual std::shared_ptr<const ProfileDictionary> getProfileOverrides() const = 0;
 
-  virtual void setPathProfileOverrides(ProfileDictionary::ConstPtr profile_overrides) = 0;
-  virtual ProfileDictionary::ConstPtr getPathProfileOverrides() const = 0;
+  virtual void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) = 0;
+  virtual std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const = 0;
 
   virtual void setMoveType(MoveInstructionType move_type) = 0;
   virtual MoveInstructionType getMoveType() const = 0;
@@ -253,17 +253,23 @@ struct MoveInstructionInstance : tesseract_common::TypeErasureInstance<T, MoveIn
   void setPathProfile(const std::string& profile) final { this->get().setPathProfile(profile); }
   const std::string& getPathProfile() const final { return this->get().getPathProfile(); }
 
-  void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides) final
+  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) final
   {
     this->get().setProfileOverrides(profile_overrides);
   }
-  ProfileDictionary::ConstPtr getProfileOverrides() const final { return this->get().getProfileOverrides(); }
+  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const final
+  {
+    return this->get().getProfileOverrides();
+  }
 
-  void setPathProfileOverrides(ProfileDictionary::ConstPtr profile_overrides) final
+  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides) final
   {
     this->get().setPathProfileOverrides(profile_overrides);
   }
-  ProfileDictionary::ConstPtr getPathProfileOverrides() const final { return this->get().getPathProfileOverrides(); }
+  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const final
+  {
+    return this->get().getPathProfileOverrides();
+  }
 
   void setMoveType(MoveInstructionType move_type) final { this->get().setMoveType(move_type); }
   MoveInstructionType getMoveType() const final { return this->get().getMoveType(); }
@@ -319,11 +325,11 @@ struct MoveInstructionPoly : MoveInstructionPolyBase
   void setPathProfile(const std::string& profile);
   const std::string& getPathProfile() const;
 
-  void setProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
-  ProfileDictionary::ConstPtr getProfileOverrides() const;
+  void setProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
+  std::shared_ptr<const ProfileDictionary> getProfileOverrides() const;
 
-  void setPathProfileOverrides(ProfileDictionary::ConstPtr profile_overrides);
-  ProfileDictionary::ConstPtr getPathProfileOverrides() const;
+  void setPathProfileOverrides(std::shared_ptr<const ProfileDictionary> profile_overrides);
+  std::shared_ptr<const ProfileDictionary> getPathProfileOverrides() const;
 
   void setMoveType(MoveInstructionType move_type);
   MoveInstructionType getMoveType() const;

tesseract_command_language/include/tesseract_command_language/poly/state_waypoint_poly.h

@@ -28,14 +28,16 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <string>
-#include <boost/serialization/base_object.hpp>
+#include <Eigen/Core>
+#include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <boost/serialization/base_object.hpp>
 #include <boost/concept_check.hpp>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_command_language/poly/waypoint_poly.h>
-#include <tesseract_common/serialization.h>
 #include <tesseract_common/type_erasure.h>
+#include <tesseract_common/fwd.h>
 
 /** @brief If shared library, this must go in the header after the class definition */
 #define TESSERACT_STATE_WAYPOINT_EXPORT_KEY(N, C)                                                                      \
@@ -284,8 +286,8 @@ BOOST_CLASS_EXPORT_KEY(tesseract_planning::StateWaypointPolyBase)
 BOOST_CLASS_TRACKING(tesseract_planning::StateWaypointPolyBase, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::StateWaypointPoly)
-BOOST_CLASS_TRACKING(tesseract_planning::StateWaypointPoly, boost::serialization::track_never);
+BOOST_CLASS_TRACKING(tesseract_planning::StateWaypointPoly, boost::serialization::track_never)
 
-TESSERACT_WAYPOINT_EXPORT_KEY(tesseract_planning, StateWaypointPoly);
+TESSERACT_WAYPOINT_EXPORT_KEY(tesseract_planning, StateWaypointPoly)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_STATE_WAYPOINT_POLY_H