Improve OpenraveYarpControlboard parameter parsing

[jgvictores]

Improve OpenraveYarpControlboard parameter parsing, for #29 etc.

[jgvictores]

WIP on fix-30-OpenraveYarpControlboard branch.

[jgvictores]

Regarding main():

• main() is not generated through openrave-createplugin.py documented in Writing OpenRAVE Programs.
• main() is not mentioned in writing_plugins.
• main() is apparently not called when invoking through Python.
• main() is called when invoking through openrave --module OpenraveYarpControlboard. An idea is to use it as a convenience function for calling Open() which is apparently not called when using this way to instance.

Regarding Open():

• Option to pass to a yarp::os::Property, and extract subdevice and the rest of the parameters seems reasonable.

[jgvictores]

Regarding main():

• Very few OpenRAVE plugins use it. A grep -r "virtual int main" * in openrave/plugins returns 8 results out of a relatively large tree of plugins.
• The idea to use it as a convenience function is still good, but maybe better just live without it and debug via Python/ipython.

Regarding Open():

• Open() is just an example function, the bind mechanism allows calling any function with any number of arguments.

[jgvictores]

Deleting fix-30-OpenraveYarpControlboard for now. Will get back to this later, prefer to focus on #29 as they are not mutually exclusive.

[jgvictores]

PS: virtual int main is defined in openrave/include/openrave/module.h#L43-L48:

/// gets called every time a problem instance is loaded to initialize the problem.
/// Robots might not necessarily be set before this function call
/// returns 0 on success
virtual int main(const std::string& cmd) {
return 0;
}

[jgvictores]

Is blocking asrob-uc3m/robotDevastation-robots#36 and also https://github.com/roboticslab-uc3m/xgnitive tasks.

[jgvictores]

Blocked by #47 .

[jgvictores]

Note that parameter parsing of OpenraveYarpPluginLoader developed as part of #47 is very good. Still blocked to see if the plugin superseeds this one.

[jgvictores]

Not really blocking the previous anymore, which can use the newly developed OpenraveYarpPluginLoader. This issue is more focused on the Controlboard version because it currently does load all limbs.

[jgvictores]

See #47 (comment), closing this issue as invalid. OpenraveYarpControlboard has been superseeded by OpenraveYarpPluginLoader at 28ce5e9.