Plugins

Few fixes for the yarp plugin infrastructure - Please Paul and Lorenzo take a look at this changes.

Tested with yarpdev --device ... with
- yarp device + iCub subdevice
- iCub device + iCub subdevice
- iCub device + yarp default wrapper
- iCub device + iCub default wrapper

Tested also with the robotInterface by removing the linking to the library ic ubmod and the macros //YARP_DECLARE_DEVICES(icubmod) and //    YARP_REGISTER_DEVICES(icubmod)
and it works.

The only thing missing now is that since yarpdev does not manage explicitly the attach/detach commands some device does not work properly or crashes when closing, but this is more related to the devices then the yarp factory.

Few changes will also be committed on iCub repo for some initialiazation/closing fix