Fix windows static field exports and fix tests

tesseract-robotics · Jul 29, 2024 · 3f12c95 · 3f12c95
1 parent f17958b
commit 3f12c95
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Showing 24 changed files with 149 additions and 100 deletions.
diff --git a/tesseract_task_composer/core/CMakeLists.txt b/tesseract_task_composer/core/CMakeLists.txt
@@ -17,8 +17,6 @@ add_library(
   src/task_composer_server.cpp
   src/task_composer_task.cpp)
 
-generate_export_header(${PROJECT_NAME})
-
 target_link_libraries(
   ${PROJECT_NAME}
   PUBLIC console_bridge::console_bridge
@@ -54,6 +52,9 @@ add_library(
   src/nodes/start_task.cpp
   src/nodes/sync_task.cpp
   src/test_suite/test_task.cpp)
+
+generate_export_header(${PROJECT_NAME}_nodes)
+
 target_link_libraries(
   ${PROJECT_NAME}_nodes
   PUBLIC ${PROJECT_NAME}
@@ -104,7 +105,7 @@ install(
   PATTERN "*.h"
   PATTERN "*.hpp")
 
-install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_export.h DESTINATION include/${PROJECT_NAME}/core/
+install(FILES ${PROJECT_BINARY_DIR}/core/tesseract_task_composer_nodes_export.h DESTINATION include/${PROJECT_NAME}/core/
         COMPONENT core)
 
 # Plugin should not be export only installed

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
@@ -5,18 +5,19 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/core/tesseract_task_composer_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class HasDataStorageEntryTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_NODES_EXPORT HasDataStorageEntryTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_KEYS_PORT;
+  static const 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
@@ -34,7 +34,6 @@ 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/tesseract_task_composer/planning/CMakeLists.txt b/tesseract_task_composer/planning/CMakeLists.txt
@@ -1,3 +1,6 @@
+# Need to create export header so static class variables can be exported on windows build
+include(GenerateExportHeader)
+
 find_package(tesseract_command_language REQUIRED)
 find_package(
   tesseract_motion_planners REQUIRED
@@ -138,8 +141,11 @@ target_code_coverage(
   ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
 target_include_directories(
   ${PROJECT_NAME}_planning_nodes PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+                                        "$<BUILD_INTERFACE:${PROJECT_BINARY_DIR}/../>"
                                         "$<INSTALL_INTERFACE:include>")
 
+generate_export_header(${PROJECT_NAME}_planning_nodes)
+
 # Create factories target
 add_library(${PROJECT_NAME}_planning_factories ${FACTORIES_SOURCE_FILES})
 target_link_libraries(${PROJECT_NAME}_planning_factories PUBLIC ${FACTORIES_SOURCE_LINK_LIBRARIES})
@@ -171,6 +177,9 @@ install(
   PATTERN "*.hpp"
   PATTERN ".svn" EXCLUDE)
 
+install(FILES ${PROJECT_BINARY_DIR}/planning/tesseract_task_composer_planning_nodes_export.h DESTINATION include/${PROJECT_NAME}/planning/
+  COMPONENT planning)
+
 # Plugin should not be export only installed
 install(
   TARGETS ${PROJECT_NAME}_planning_factories

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
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,17 +42,17 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ContinuousContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ContinuousContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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 std::string INPUT_MANIP_INFO_PORT;
+  static const 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
@@ -30,6 +30,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <vector>
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -41,17 +42,17 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class DiscreteContactCheckTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT DiscreteContactCheckTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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 std::string INPUT_MANIP_INFO_PORT;
+  static const 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
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -42,17 +43,17 @@ class TaskComposerPluginFactory;
  * @brief This task modifies the input instructions in order to push waypoints that are outside of their
  * limits back within them.
  */
-class FixStateBoundsTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateBoundsTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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 std::string INPUT_MANIP_INFO_PORT;
+  static const 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
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -50,17 +51,17 @@ struct FixStateCollisionProfile;
  *
  * First it uses TrajOpt to correct the waypoint. If that fails, it reverts to random sampling
  */
-class FixStateCollisionTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FixStateCollisionTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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 std::string INPUT_MANIP_INFO_PORT;
+  static const 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
@@ -33,6 +33,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -51,13 +52,13 @@ class TaskComposerPluginFactory;
  * input_keys[0]: The original input to motion planning
  * input_keys[1]: The output of the first motion plan which failed collision checking
  */
-class FormatAsInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  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;
 
   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
@@ -5,18 +5,19 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class FormatAsResultTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT FormatAsResultTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INOUT_PROGRAMS_PORT;
+  static const 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
@@ -30,6 +30,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,18 +40,18 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class IterativeSplineParameterizationTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT IterativeSplineParameterizationTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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;
+  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;
 
   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
@@ -31,23 +31,24 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class MinLengthTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT MinLengthTask : public TaskComposerTask
 {
 public:
   // Requried
-  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;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const 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 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;
+  static const std::string INOUT_PROGRAM_PORT;
+  static const std::string INPUT_ENVIRONMENT_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  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;
+  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;
 
   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
@@ -31,19 +31,20 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
 
 namespace tesseract_planning
 {
 class TaskComposerPluginFactory;
-class ProcessPlanningInputTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProcessPlanningInputTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PLANNING_INPUT_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string OUTPUT_PROGRAM_PORT;
+  static const std::string INPUT_PLANNING_INPUT_PORT;
+  static const 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
@@ -28,6 +28,7 @@
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <boost/serialization/access.hpp>
 #include <boost/serialization/export.hpp>
+#include <tesseract_task_composer/planning/tesseract_task_composer_planning_nodes_export.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 #include <tesseract_task_composer/core/task_composer_task.h>
@@ -39,15 +40,15 @@ class TaskComposerPluginFactory;
  * @brief This task simply returns a value specified in the composite profile. This can be used to switch execution
  * based on the profile
  */
-class ProfileSwitchTask : public TaskComposerTask
+class TESSERACT_TASK_COMPOSER_PLANNING_NODES_EXPORT ProfileSwitchTask : public TaskComposerTask
 {
 public:
   // Requried
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROGRAM_PORT;
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_PROFILES_PORT;
+  static const std::string INPUT_PROGRAM_PORT;
+  static const std::string INPUT_PROFILES_PORT;
 
   // Optional
-  static const TESSERACT_TASK_COMPOSER_EXPORT std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
+  static const std::string INPUT_COMPOSITE_PROFILE_REMAPPING_PORT;
 
   using Ptr = std::shared_ptr<ProfileSwitchTask>;
   using ConstPtr = std::shared_ptr<const ProfileSwitchTask>;