Fix windows build by exporting public static const class variables

tesseract-robotics · Jul 28, 2024 · c0b35a8 · c0b35a8
1 parent 18c0b5e
commit c0b35a8
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Showing 22 changed files with 90 additions and 79 deletions.
diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 add_library(
   ${PROJECT_NAME}
   src/task_composer_data_storage.cpp
@@ -13,6 +16,9 @@ add_library(
   src/task_composer_plugin_factory.cpp
   src/task_composer_server.cpp
   src/task_composer_task.cpp)
+
+generate_export_header(${PROJECT_NAME})
+
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
@@ -35,8 +41,9 @@ target_code_coverage(
   ALL
   EXCLUDE ${COVERAGE_EXCLUDE}
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
-target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                  "$<INSTALL_INTERFACE:include>")
+target_include_directories(
+  ${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                         "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>" "$<INSTALL_INTERFACE:include>")
 
 add_library(
   ${PROJECT_NAME}_nodes
@@ -97,6 +104,9 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
+install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_export.h DESTINATION include/${PROJECT_NAME}/core/
+        COMPONENT core)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_factories

diff --git a/...sk_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h b/...sk_composer/core/include/tesseract_task_composer/core/nodes/has_data_storage_entry_task.h
@@ -16,7 +16,7 @@ class HasDataStorageEntryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_KEYS_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_KEYS_PORT;
 
   using Ptr = std::shared_ptr<HasDataStorageEntryTask>;
   using ConstPtr = std::shared_ptr<const HasDataStorageEntryTask>;

diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node.h
@@ -34,6 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/uuid/uuid.hpp>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/core/tesseract_task_composer_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/fwd.h>

diff --git a/...r/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h b/...r/planning/include/tesseract_task_composer/planning/nodes/continuous_contact_check_task.h
@@ -45,13 +45,13 @@ class ContinuousContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ContinuousContactCheckTask>;
   using ConstPtr = std::shared_ptr<const ContinuousContactCheckTask>;

diff --git a/...ser/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h b/...ser/planning/include/tesseract_task_composer/planning/nodes/discrete_contact_check_task.h
@@ -45,13 +45,13 @@ class DiscreteContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<DiscreteContactCheckTask>;
   using ConstPtr = std::shared_ptr<const DiscreteContactCheckTask>;

diff --git a/..._composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h b/..._composer/planning/include/tesseract_task_composer/planning/nodes/fix_state_bounds_task.h
@@ -46,13 +46,13 @@ class FixStateBoundsTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateBoundsTask>;
   using ConstPtr = std::shared_ptr<const FixStateBoundsTask>;

diff --git a/...mposer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h b/...mposer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
@@ -54,13 +54,13 @@ class FixStateCollisionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<FixStateCollisionTask>;
   using ConstPtr = std::shared_ptr<const FixStateCollisionTask>;

diff --git a/...k_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h b/...k_composer/planning/include/tesseract_task_composer/planning/nodes/format_as_input_task.h
@@ -55,9 +55,9 @@ class FormatAsInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
-  static const std::string INPUT_POST_PLANNING_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PRE_PLANNING_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_POST_PLANNING_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<FormatAsInputTask>;
   using ConstPtr = std::shared_ptr<const FormatAsInputTask>;

diff --git a/..._composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h b/..._composer/planning/include/tesseract_task_composer/planning/nodes/format_as_result_task.h
@@ -16,7 +16,7 @@ class FormatAsResultTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAMS_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAMS_PORT;
 
   using Ptr = std::shared_ptr<FormatAsResultTask>;
   using ConstPtr = std::shared_ptr<const FormatAsResultTask>;

diff --git a/...g/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h b/...g/include/tesseract_task_composer/planning/nodes/iterative_spline_parameterization_task.h
@@ -43,14 +43,14 @@ class IterativeSplineParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<IterativeSplineParameterizationTask>;
   using ConstPtr = std::shared_ptr<const IterativeSplineParameterizationTask>;

diff --git a/...t_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h b/...t_task_composer/planning/include/tesseract_task_composer/planning/nodes/min_length_task.h
@@ -42,12 +42,12 @@ class MinLengthTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<MinLengthTask>;
   using ConstPtr = std::shared_ptr<const MinLengthTask>;

diff --git a/..._composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp b/..._composer/planning/include/tesseract_task_composer/planning/nodes/motion_planner_task.hpp
@@ -53,14 +53,14 @@ class MotionPlannerTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   MotionPlannerTask() : TaskComposerTask("MotionPlannerTask", MotionPlannerTask<MotionPlannerType>::ports(), true) {}
   explicit MotionPlannerTask(std::string name,  // NOLINT(performance-unnecessary-value-param)

diff --git a/...ser/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h b/...ser/planning/include/tesseract_task_composer/planning/nodes/process_planning_input_task.h
@@ -42,8 +42,8 @@ class ProcessPlanningInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PLANNING_INPUT_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PLANNING_INPUT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<ProcessPlanningInputTask>;
   using ConstPtr = std::shared_ptr<const ProcessPlanningInputTask>;

diff --git a/...sk_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h b/...sk_composer/planning/include/tesseract_task_composer/planning/nodes/profile_switch_task.h
@@ -43,11 +43,11 @@ class ProfileSwitchTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PROGRAM_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ProfileSwitchTask>;
   using ConstPtr = std::shared_ptr<const ProfileSwitchTask>;

diff --git a/...ask_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h b/...ask_composer/planning/include/tesseract_task_composer/planning/nodes/raster_motion_task.h
@@ -60,11 +60,11 @@ class RasterMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {

diff --git a/...omposer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h b/...omposer/planning/include/tesseract_task_composer/planning/nodes/raster_only_motion_task.h
@@ -56,11 +56,11 @@ class RasterOnlyMotionTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
 
   struct TaskFactoryResults
   {

diff --git a/...lanning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h b/...lanning/include/tesseract_task_composer/planning/nodes/ruckig_trajectory_smoothing_task.h
@@ -39,14 +39,14 @@ class RuckigTrajectorySmoothingTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<RuckigTrajectorySmoothingTask>;
   using ConstPtr = std::shared_ptr<const RuckigTrajectorySmoothingTask>;

diff --git a/...nning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h b/...nning/include/tesseract_task_composer/planning/nodes/time_optimal_parameterization_task.h
@@ -43,14 +43,14 @@ class TimeOptimalParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_ENVIRONMENT_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_ENVIRONMENT_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_MANIP_INFO_PORT;
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
-  static const std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MANIP_INFO_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_MOVE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<TimeOptimalParameterizationTask>;
   using ConstPtr = std::shared_ptr<const TimeOptimalParameterizationTask>;

diff --git a/..._composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h b/..._composer/planning/include/tesseract_task_composer/planning/nodes/update_end_state_task.h
@@ -39,9 +39,9 @@ class UpdateEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string INPUT_NEXT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateEndStateTask>;

diff --git a/...planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h b/...planning/include/tesseract_task_composer/planning/nodes/update_start_and_end_state_task.h
@@ -39,10 +39,10 @@ class UpdateStartAndEndStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string INPUT_NEXT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_NEXT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartAndEndStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartAndEndStateTask>;

diff --git a/...omposer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h b/...omposer/planning/include/tesseract_task_composer/planning/nodes/update_start_state_task.h
@@ -39,9 +39,9 @@ class UpdateStartStateTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INPUT_PREVIOUS_PROGRAM_PORT;
-  static const std::string INPUT_CURRENT_PROGRAM_PORT;
-  static const std::string OUTPUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PREVIOUS_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_CURRENT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
 
   using Ptr = std::shared_ptr<UpdateStartStateTask>;
   using ConstPtr = std::shared_ptr<const UpdateStartStateTask>;

diff --git a/...mposer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h b/...mposer/planning/include/tesseract_task_composer/planning/nodes/upsample_trajectory_task.h
@@ -47,11 +47,11 @@ class UpsampleTrajectoryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const std::string INOUT_PROGRAM_PORT;
-  static const std::string INPUT_PROFILES_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAM_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<UpsampleTrajectoryTask>;
   using ConstPtr = std::shared_ptr<const UpsampleTrajectoryTask>;