Update because of changes with AnyPoly

Author: Levi-Armstrong

tesseract_command_language/include/tesseract_command_language/composite_instruction.h

@@ -509,11 +509,13 @@ class CompositeInstruction : public InstructionInterface
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 
+using CompositeInstructionAnyPoly = tesseract_common::AnyWrapper<CompositeInstruction>;
 }  // namespace tesseract_planning
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::CompositeInstruction)
 BOOST_CLASS_TRACKING(tesseract_planning::CompositeInstruction, boost::serialization::track_never)
 
-TESSERACT_ANY_EXPORT_KEY(tesseract_planning::CompositeInstruction, TesseractPlanningCompositeInstruction)
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::CompositeInstructionAnyPoly)
+BOOST_CLASS_TRACKING(tesseract_planning::CompositeInstructionAnyPoly, boost::serialization::track_never)
 
 #endif  // TESSERACT_COMMAND_LANGUAGE_COMPOSITE_INSTRUCTION_H

tesseract_command_language/include/tesseract_command_language/profile_dictionary.h

@@ -124,10 +124,11 @@ class ProfileDictionary
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 
+using ProfileDictionaryPtrAnyPoly =
+    tesseract_common::AnyWrapper<std::shared_ptr<tesseract_planning::ProfileDictionary>>;
 }  // namespace tesseract_planning
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::ProfileDictionary)
-TESSERACT_ANY_EXPORT_KEY(std::shared_ptr<tesseract_planning::ProfileDictionary>,
-                         TesseractPlanningProfileDictionarySharedPtr)
+BOOST_CLASS_EXPORT_KEY(tesseract_planning::ProfileDictionaryPtrAnyPoly)
 
 #endif  // TESSERACT_MOTION_PLANNERS_PROFILE_DICTIONARY_H

tesseract_command_language/src/composite_instruction.cpp

@@ -560,4 +560,5 @@ void CompositeInstruction::serialize(Archive& ar, const unsigned int /*version*/
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CompositeInstruction)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::CompositeInstruction)
 
-TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractPlanningCompositeInstruction)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CompositeInstructionAnyPoly)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::CompositeInstructionAnyPoly)

tesseract_command_language/src/profile_dictionary.cpp

@@ -217,4 +217,6 @@ void ProfileDictionary::serialize(Archive& ar, const unsigned int /*version*/)
 #include <tesseract_common/serialization.h>
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::ProfileDictionary)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::ProfileDictionary)
-TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractPlanningProfileDictionarySharedPtr)
+
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::ProfileDictionaryPtrAnyPoly)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::ProfileDictionaryPtrAnyPoly)

tesseract_task_composer/test/tesseract_task_composer_core_unit.cpp

@@ -31,8 +31,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_common/resource_locator.h>
 
-TESSERACT_ANY_EXPORT(tesseract_common::JointState, TesseractCommonJointState)
-
 using namespace tesseract_planning;
 
 TEST(TesseractTaskComposerCoreUnit, TaskComposerDataStorageTests)  // NOLINT