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For information on the latest version, please have a look at GL013301.

del_tool

This is a function for deleting information on a tool that has been registered in the robot controller in advance. Once deleted, the tool information cannot be used until it is re-registered using add_tool.

Definition
DRFLEx.h within class CDRFLEx, public section (line 891)

bool del_tool(string strSymbol) {
    return _del_tool(_rbtCtrl, strSymbol.c_str());
};

Parameter

Parameter Name	Data Type	Default Value	Description
strSymbol	string		Name of the tool to delete. Must match a tool that has been previously registered.

Return

Value	Description
0	Error — failed to delete the tool
1	Success — tool successfully deleted from memory

Example

#include "DRFLEx.h"
using namespace DRAFramework;

int main() {
    CDRFLEx drfl;

    float fCog[3]     = {10.f, 10.f, 10.f};
    float fInertia[6] = {0.f, 0.f, 0.f, 0.f, 0.f, 0.f};

    // (1) Register and activate a new tool
    drfl.add_tool("tool#1", 5.3f, fCog, fInertia);
    drfl.set_tool("tool#1");

    // (2) Delete the registered tool
    drfl.del_tool("tool#1");
}

This example registers a new tool (“tool#1”), activates it, and then deletes its registration data from the controller memory.