Make sure serialized objects have friend struct tesseract_common::Serialization

Author: Levi-Armstrong

tesseract_collision/core/include/tesseract_collision/core/contact_result_validator.h

@@ -29,6 +29,7 @@
 #include <memory>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_common/fwd.h>
 
 namespace tesseract_collision
 {
@@ -51,8 +52,9 @@ class ContactResultValidator
 
   virtual bool operator()(const ContactResult&) const = 0;
 
-protected:
+private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/allowed_collision_matrix.h

@@ -18,6 +18,8 @@ class access;
 
 namespace tesseract_common
 {
+struct Serialization;
+
 using AllowedCollisionEntries =
     std::unordered_map<tesseract_common::LinkNamesPair, std::string, tesseract_common::PairHash>;
 
@@ -104,6 +106,7 @@ class AllowedCollisionMatrix
   AllowedCollisionEntries lookup_table_;
 
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/any_poly.h

@@ -252,7 +252,7 @@ using UMapStringSizeTAnyPoly = AnyWrapper<std::unordered_map<std::string, std::s
 
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY(tesseract_common::AnyInterface)
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_common::AnyInterface)
 BOOST_CLASS_TRACKING(tesseract_common::AnyInterface, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_common::AnyPoly)

tesseract_common/include/tesseract_common/calibration_info.h

@@ -26,6 +26,7 @@
 #ifndef TESSERACT_COMMON_CALIBRATION_INFO_H
 #define TESSERACT_COMMON_CALIBRATION_INFO_H
 
+#include <tesseract_common/fwd.h>
 #include <tesseract_common/eigen_types.h>
 
 #include <boost/serialization/export.hpp>
@@ -69,6 +70,7 @@ struct CalibrationInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/collision_margin_data.h

@@ -150,6 +150,7 @@ class CollisionMarginPairData
   void updateCollisionMarginMax();
 
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -247,6 +248,7 @@ class CollisionMarginData
   CollisionMarginPairData pair_margins_;
 
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/contact_allowed_validator.h

@@ -48,8 +48,9 @@ class ContactAllowedValidator
 
   virtual bool operator()(const std::string&, const std::string&) const = 0;
 
-protected:
+private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -70,7 +71,9 @@ class ACMContactAllowedValidator : public ContactAllowedValidator
 protected:
   tesseract_common::AllowedCollisionMatrix acm_;
 
+private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -102,14 +105,16 @@ class CombinedContactAllowedValidator : public ContactAllowedValidator
   std::vector<std::shared_ptr<const ContactAllowedValidator>> validators_;
   CombinedContactAllowedValidatorType type_{ CombinedContactAllowedValidatorType::OR };
 
+private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
 
 }  // namespace tesseract_common
 
-BOOST_CLASS_EXPORT_KEY(tesseract_common::ContactAllowedValidator)
+BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_common::ContactAllowedValidator)
 BOOST_CLASS_EXPORT_KEY(tesseract_common::ACMContactAllowedValidator)
 BOOST_CLASS_EXPORT_KEY(tesseract_common::CombinedContactAllowedValidator)
 

tesseract_common/include/tesseract_common/joint_state.h

@@ -44,6 +44,8 @@ class access;
 
 namespace tesseract_common
 {
+struct Serialization;
+
 class JointState
 {
 public:
@@ -74,6 +76,7 @@ class JointState
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -234,6 +237,7 @@ class JointTrajectory
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/kinematic_limits.h

@@ -35,6 +35,8 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_common
 {
+struct Serialization;
+
 /** @brief Store kinematic limits */
 struct KinematicLimits
 {
@@ -61,6 +63,7 @@ struct KinematicLimits
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };

tesseract_common/include/tesseract_common/manipulator_info.h

@@ -37,6 +37,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_common
 {
+struct Serialization;
 /**
  * @brief Contains information about a robot manipulator
  */
@@ -93,6 +94,7 @@ struct ManipulatorInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
 
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT

tesseract_common/include/tesseract_common/plugin_info.h

@@ -44,6 +44,8 @@ class access;
 
 namespace tesseract_common
 {
+struct Serialization;
+
 /** @brief The Plugin Information struct */
 // NOLINTNEXTLINE
 struct PluginInfo
@@ -62,6 +64,7 @@ struct PluginInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void save(Archive& ar, const unsigned int version) const;  // NOLINT
 
@@ -86,6 +89,7 @@ struct PluginInfoContainer
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -122,6 +126,7 @@ struct KinematicsPluginInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -158,6 +163,7 @@ struct ContactManagersPluginInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };
@@ -194,6 +200,7 @@ struct TaskComposerPluginInfo
 
 private:
   friend class boost::serialization::access;
+  friend struct tesseract_common::Serialization;
   template <class Archive>
   void serialize(Archive& ar, const unsigned int version);  // NOLINT
 };