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 interruptModule(){
cout << "Interrupting.." << endl;
vGrabber.interrupt();
outPort.interrupt();
handlerPort.interrupt();
return true;
}
virtual bool interruptModule()
{
gtk_main->quit();
monitorOutput.interrupt();
if (graphics) delete graphics;
delete gtk_main;
close();
return true;
}