void yarp_cleanup() {
right_hand.interrupt();
left_hand.interrupt();
right_grasp_port.interrupt();
left_grasp_port.interrupt();
right_hand.close();
left_hand.close();
right_grasp_port.close();
left_grasp_port.close();
// Finished reading configuration file
std::cout << "YARP clean-up... \tdone!" << std::endl;
}
bool close(){
cout << "closing .." << endl;
vGrabber.close();
outPort.close();
handlerPort.close();
return true;
}
virtual bool close()
{
monitorOutput.close();
m_timer.disconnect();
fprintf(stdout,"done...\n");
yarp::os::exit(1);
return true;
}