Narrow down a memory allocation problem

polydriver_test.cpp

#include <yarp/os/all.h>
#include <yarp/sig/all.h>
#include <yarp/dev/all.h>

#include <iostream>

using namespace yarp::os;
using namespace yarp::dev;
using namespace std;

class iCubControl {
public:
    bool headInitialised;
    Property                        head;
    IControlLimits                  *head_lim;
    IPositionControl                *head_pos;
    IVelocityControl                *head_vel;
    IControlMode                    *head_mode;
    IEncoders                       *head_encs;
    yarp::sig::Vector               head_encoders;
    yarp::sig::Vector               head_command;
    PolyDriver                      *head_device;
    int                             head_joints;
    double                          *head_velocities;
    double                          *head_positions;
    double                          *head_min_limit;
    double                          *head_max_limit;

    iCubControl() { headInitialised = false; }

    void initHead(bool simulation);
    void closeHead();

};


void iCubControl::initHead(bool simulation)
{
    if(!headInitialised)
    {
        cout<<"Aquila: initialising head..."<<endl<<endl;
	
	Property head; // ah-hah!
        head.put("device", "remote_controlboard");
        head.put("local", "/head");
        if(simulation) head.put("remote", "/icubSim/head");
        else head.put("remote", "/icub/head");

        head_device = new PolyDriver;
	head_device->open(head);                                
	//<<<------------------------------------------------------------------ IT CRASHES HERE DESPITE OF ALL THE MEMORY BEING DISALLOCATED, THE HEAD_DEVICE IS NULL BEFORE THE EXECUTION ENTERS THIS LINE

	/*
        if (!head_device->isValid())        cout<<"Aquila: device is not available"<<endl;
        if (!head_device->view(head_lim))   cout<<"Aquila: IControlLimits interface is not available"<<endl;
        if (!head_device->view(head_pos))   cout<<"Aquila: IPositionControl interface is not available"<<endl;
        if (!head_device->view(head_encs))  cout<<"Aquila: IEncoders interface is not available"<<endl;
        if (!head_device->view(head_vel))   cout<<"Aquila: IVelocityControl interface is not available"<<endl;
        if (!head_device->view(head_mode))  cout<<"Aquila: IControlMode interface is not available"<<endl;

        head_pos->getAxes(&head_joints);
        head_encoders.resize(head_joints);
        head_command.resize(head_joints);
        //allocate memory and set velocities and positions to 0
        head_velocities = new double[head_joints];
        head_positions  = new double[head_joints];
        head_min_limit  = new double[head_joints];
        head_max_limit  = new double[head_joints];
        for(int i=0;i<head_joints;i++)
        {
            head_positions[i] = 0.0;
            head_positions[i] = 0.0;
            head_lim->getLimits(i,&head_min_limit[i],&head_max_limit[i]);
        }
	*/
        headInitialised = true;
    }
    else cout<<"Aquila: head was already initialised..."<<endl<<endl;
}



void iCubControl::closeHead()
{
    if(headInitialised)
    {
      //head_device->close();
      delete head_device;
      head_device = NULL;

	/*
        head.clear();
        head_encoders.clear();
        head_command.clear();
        head_joints = 0;

        delete[] head_velocities;
        delete[] head_positions;
        delete[] head_min_limit;
        delete[] head_max_limit;
	*/

        headInitialised = false;
    } else cout<<"Aquila: closing call ignored, head was not initialised..."<<endl<<endl;
}


int main() {
  Network yarp;
  iCubControl ctrl;

  for (int i=0; i<100; i++) {
    ctrl.initHead(true);
    ctrl.closeHead();
  }
  return 0;
}