Remove getStaticKey from profiles

Author: Levi-Armstrong

tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/profile/descartes_profile.h

@@ -29,7 +29,6 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <memory>
-#include <typeindex>
 #include <Eigen/Geometry>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
@@ -53,13 +52,7 @@ class DescartesSolverProfile : public tesseract_common::Profile
   using Ptr = std::shared_ptr<DescartesSolverProfile<FloatType>>;
   using ConstPtr = std::shared_ptr<const DescartesSolverProfile<FloatType>>;
 
-  DescartesSolverProfile() : Profile(DescartesSolverProfile<FloatType>::getStaticKey()) {}
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey() { return std::type_index(typeid(DescartesSolverProfile<FloatType>)).hash_code(); }
+  DescartesSolverProfile() : Profile(createKey<DescartesSolverProfile<FloatType>>()) {}
 
   virtual std::unique_ptr<descartes_light::Solver<FloatType>> create() const = 0;
 };
@@ -71,13 +64,7 @@ class DescartesMoveProfile : public tesseract_common::Profile
   using Ptr = std::shared_ptr<DescartesMoveProfile<FloatType>>;
   using ConstPtr = std::shared_ptr<const DescartesMoveProfile<FloatType>>;
 
-  DescartesMoveProfile() : Profile(DescartesMoveProfile<FloatType>::getStaticKey()) {}
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey() { return std::type_index(typeid(DescartesMoveProfile<FloatType>)).hash_code(); }
+  DescartesMoveProfile() : Profile(createKey<DescartesMoveProfile<FloatType>>()) {}
 
   std::shared_ptr<const tesseract_kinematics::KinematicGroup>
   createKinematicGroup(const tesseract_common::ManipulatorInfo& manip_info,

tesseract_motion_planners/ompl/include/tesseract_motion_planners/ompl/profile/ompl_profile.h

@@ -65,12 +65,6 @@ class OMPLMoveProfile : public tesseract_common::Profile
 
   OMPLMoveProfile();
 
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
-
   /**
    * @brief Create the OMPL Parallel Plan Solver Config
    * @return The OMPL Parallel Plan Solver Config

tesseract_motion_planners/ompl/src/profile/ompl_profile.cpp

@@ -25,14 +25,10 @@
  */
 
 #include <tesseract_motion_planners/ompl/profile/ompl_profile.h>
-#include <typeindex>
 #include <yaml-cpp/yaml.h>
 #include <tesseract_common/profile_plugin_factory.h>
 
 namespace tesseract_planning
 {
-OMPLMoveProfile::OMPLMoveProfile() : Profile(OMPLMoveProfile::getStaticKey()) {}
-
-std::size_t OMPLMoveProfile::getStaticKey() { return std::type_index(typeid(OMPLMoveProfile)).hash_code(); }
-
+OMPLMoveProfile::OMPLMoveProfile() : Profile(createKey<OMPLMoveProfile>()) {}
 }  // namespace tesseract_planning

tesseract_motion_planners/simple/include/tesseract_motion_planners/simple/profile/simple_planner_profile.h

@@ -51,12 +51,6 @@ class SimplePlannerMoveProfile : public tesseract_common::Profile
 
   SimplePlannerMoveProfile();
 
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
-
   /**
    * @brief Generate a seed for the provided base_instruction
    * @brief This should not include the prev_instruction but must include the base_instruction
@@ -84,12 +78,6 @@ class SimplePlannerCompositeProfile : public tesseract_common::Profile
   using ConstPtr = std::shared_ptr<const SimplePlannerCompositeProfile>;
 
   SimplePlannerCompositeProfile();
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 }  // namespace tesseract_planning

tesseract_motion_planners/simple/src/profile/simple_planner_profile.cpp

@@ -24,24 +24,10 @@
  * limitations under the License.
  */
 #include <tesseract_motion_planners/simple/profile/simple_planner_profile.h>
-#include <typeindex>
 
 namespace tesseract_planning
 {
-SimplePlannerMoveProfile::SimplePlannerMoveProfile() : Profile(SimplePlannerMoveProfile::getStaticKey()) {}
-
-std::size_t SimplePlannerMoveProfile::getStaticKey()
-{
-  return std::type_index(typeid(SimplePlannerMoveProfile)).hash_code();
-}
-
-SimplePlannerCompositeProfile::SimplePlannerCompositeProfile() : Profile(SimplePlannerCompositeProfile::getStaticKey())
-{
-}
-
-std::size_t SimplePlannerCompositeProfile::getStaticKey()
-{
-  return std::type_index(typeid(SimplePlannerCompositeProfile)).hash_code();
-}
+SimplePlannerMoveProfile::SimplePlannerMoveProfile() : Profile(createKey<SimplePlannerMoveProfile>()) {}
 
+SimplePlannerCompositeProfile::SimplePlannerCompositeProfile() : Profile(createKey<SimplePlannerCompositeProfile>()) {}
 }  // namespace tesseract_planning

tesseract_motion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h

@@ -71,12 +71,6 @@ class TrajOptMoveProfile : public tesseract_common::Profile
                                      const std::shared_ptr<const tesseract_environment::Environment>& env,
                                      const std::vector<std::string>& active_links,
                                      int index) const = 0;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 class TrajOptCompositeProfile : public tesseract_common::Profile
@@ -92,12 +86,6 @@ class TrajOptCompositeProfile : public tesseract_common::Profile
                                   const std::vector<int>& fixed_indices,
                                   int start_index,
                                   int end_index) const = 0;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 class TrajOptSolverProfile : public tesseract_common::Profile
@@ -122,12 +110,6 @@ class TrajOptSolverProfile : public tesseract_common::Profile
 
   /** @brief Optimization callbacks */
   virtual std::vector<sco::Optimizer::Callback> createOptimizationCallbacks() const;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 }  // namespace tesseract_planning

tesseract_motion_planners/trajopt/src/profile/trajopt_profile.cpp

@@ -24,24 +24,14 @@
  * limitations under the License.
  */
 #include <tesseract_motion_planners/trajopt/profile/trajopt_profile.h>
-#include <typeindex>
 
 namespace tesseract_planning
 {
-TrajOptMoveProfile::TrajOptMoveProfile() : Profile(TrajOptMoveProfile::getStaticKey()) {}
+TrajOptMoveProfile::TrajOptMoveProfile() : Profile(createKey<TrajOptMoveProfile>()) {}
 
-std::size_t TrajOptMoveProfile::getStaticKey() { return std::type_index(typeid(TrajOptMoveProfile)).hash_code(); }
+TrajOptCompositeProfile::TrajOptCompositeProfile() : Profile(createKey<TrajOptCompositeProfile>()) {}
 
-TrajOptCompositeProfile::TrajOptCompositeProfile() : Profile(TrajOptCompositeProfile::getStaticKey()) {}
-
-std::size_t TrajOptCompositeProfile::getStaticKey()
-{
-  return std::type_index(typeid(TrajOptCompositeProfile)).hash_code();
-}
-
-TrajOptSolverProfile::TrajOptSolverProfile() : Profile(TrajOptSolverProfile::getStaticKey()) {}
-
-std::size_t TrajOptSolverProfile::getStaticKey() { return std::type_index(typeid(TrajOptSolverProfile)).hash_code(); }
+TrajOptSolverProfile::TrajOptSolverProfile() : Profile(createKey<TrajOptSolverProfile>()) {}
 
 sco::BasicTrustRegionSQPParameters TrajOptSolverProfile::createOptimizationParameters() const { return opt_params; }
 

tesseract_motion_planners/trajopt_ifopt/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h

@@ -77,12 +77,6 @@ class TrajOptIfoptMoveProfile : public tesseract_common::Profile
                                           const tesseract_common::ManipulatorInfo& composite_manip_info,
                                           const std::shared_ptr<const tesseract_environment::Environment>& env,
                                           int index) const = 0;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 class TrajOptIfoptCompositeProfile : public tesseract_common::Profile
@@ -97,12 +91,6 @@ class TrajOptIfoptCompositeProfile : public tesseract_common::Profile
                                        const std::shared_ptr<const tesseract_environment::Environment>& env,
                                        const std::vector<std::shared_ptr<const trajopt_ifopt::JointPosition>>& vars,
                                        const std::vector<int>& fixed_indices) const = 0;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 class TrajOptIfoptSolverProfile : public tesseract_common::Profile
@@ -117,12 +105,6 @@ class TrajOptIfoptSolverProfile : public tesseract_common::Profile
   trajopt_sqp::SQPParameters opt_params{};
 
   virtual std::unique_ptr<trajopt_sqp::TrustRegionSQPSolver> create(bool verbose = false) const = 0;
-
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
 };
 
 }  // namespace tesseract_planning

tesseract_motion_planners/trajopt_ifopt/src/profile/trajopt_ifopt_profile.cpp

@@ -24,29 +24,13 @@
  * limitations under the License.
  */
 #include <tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_profile.h>
-#include <typeindex>
 
 namespace tesseract_planning
 {
-TrajOptIfoptMoveProfile::TrajOptIfoptMoveProfile() : Profile(TrajOptIfoptMoveProfile::getStaticKey()) {}
+TrajOptIfoptMoveProfile::TrajOptIfoptMoveProfile() : Profile(createKey<TrajOptIfoptMoveProfile>()) {}
 
-std::size_t TrajOptIfoptMoveProfile::getStaticKey()
-{
-  return std::type_index(typeid(TrajOptIfoptMoveProfile)).hash_code();
-}
-
-TrajOptIfoptCompositeProfile::TrajOptIfoptCompositeProfile() : Profile(TrajOptIfoptCompositeProfile::getStaticKey()) {}
-
-std::size_t TrajOptIfoptCompositeProfile::getStaticKey()
-{
-  return std::type_index(typeid(TrajOptIfoptCompositeProfile)).hash_code();
-}
-
-TrajOptIfoptSolverProfile::TrajOptIfoptSolverProfile() : Profile(TrajOptIfoptSolverProfile::getStaticKey()) {}
+TrajOptIfoptCompositeProfile::TrajOptIfoptCompositeProfile() : Profile(createKey<TrajOptIfoptCompositeProfile>()) {}
 
-std::size_t TrajOptIfoptSolverProfile::getStaticKey()
-{
-  return std::type_index(typeid(TrajOptIfoptSolverProfile)).hash_code();
-}
+TrajOptIfoptSolverProfile::TrajOptIfoptSolverProfile() : Profile(createKey<TrajOptIfoptSolverProfile>()) {}
 
 }  // namespace tesseract_planning

tesseract_task_composer/planning/include/tesseract_task_composer/planning/profiles/contact_check_profile.h

@@ -51,12 +51,6 @@ struct ContactCheckProfile : public tesseract_common::Profile
   ContactCheckProfile(double longest_valid_segment_length, double contact_distance);
   ContactCheckProfile(const YAML::Node& config, const tesseract_common::ProfilePluginFactory& plugin_factory);
 
-  /**
-   * @brief A utility function for getting profile ID
-   * @return The profile ID used when storing in profile dictionary
-   */
-  static std::size_t getStaticKey();
-
   /** @brief The contact manager config */
   tesseract_collision::ContactManagerConfig contact_manager_config;