Comments (5)
Hello Adjel,
The function is returning a LinuxDynamicLib by value but this class has no copy or move constructor implemented.
I can consider adding a move constructor to make it easier to return it from functions or move it as an argument to functions/methods.
You could return a smart pointer from your function instead:
std::unique_ptr<LinuxDynamicLib<Scalar>> loadLibrary(std::vector<std::unique_ptr<GenericModel<Scalar>>> & models){
std::unique_ptr<LinuxDynamicLib<Scalar>> myLib(new LinuxDynamicLib<Scalar>("./fkine_angular_IMU1.so")); //Instantiation of the dynamic library
std::unique_ptr<GenericModel<Scalar>> myModel = myLib->model("fkine_angular_IMU1"); //Instantiation of the model, from the dynamic library
models.push_back(std::move(myModel));
return myLib;
}
If you are using C++14 you may be insterested in using
auto myLib = std::make_unique<LinuxDynamicLib<Scalar>>("./fkine_angular_IMU1.so");
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Thank you very much for your fast feedback, I will try this as soon as possible and tell you if it worked in my case
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I just tried it and it worked wonderfully, thank you very much. By the way, when generating and compiling the DynamicLibrary, do you think that it's possible to add several models based on different ADfun
in a single library ? Allowing me then to instantiate all my models from a single library this way :
std::unique_ptr<LinuxDynamicLib<Scalar>> myLib(new LinuxDynamicLib<Scalar>("./nameMyLib.so")); //Instantiation of the dynamic library
std::unique_ptr<GenericModel<Scalar>> myModel1 = myLib->model("nameModel1"); //Instantiation model 1
std::unique_ptr<GenericModel<Scalar>> myModel2 = myLib->model("nameModel2"); //Instantiation model 2
std::unique_ptr<GenericModel<Scalar>> myModelN = myLib->model("nameModelN"); //Instantiation model N
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This is already possible.
You can add multiple models to a ModelLibraryCSourceGen by either adding them to the constructor:
ModelCSourceGen<double> model1(adFun1, "nameModel1");
ModelCSourceGen<double> model2(adFun2, "nameModel2");
ModelCSourceGen<double> model3(adFun3, "nameModel3");
ModelLibraryCSourceGen<double> modelLibGen(model1, model2, model3);
or afterwars:
ModelCSourceGen<double> model3(fun1, "nameModel3");
modelLibGen.addModel(model3);
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It worked great ! Thank you very much for your fast feedback :) have a nice day
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