Class Voice

Defined in File voice.hpp

Inheritance Relationships

Base Types

public hri::FeatureTracker (Class FeatureTracker)
public std::enable_shared_from_this< Voice >

Class Documentation

class Voice : public hri::FeatureTracker, public std::enable_shared_from_this<Voice>

Public Functions

Voice(ID id, NodeInterfaces node_interfaces, rclcpp::CallbackGroup::SharedPtr callback_group, const tf2::BufferCore &tf_buffer, const std::string &reference_frame)

virtual ~Voice()

inline std::optional<bool> isSpeaking() const: Returns speech is currently detected in this voice, ie, whether the person is currently speaking.

inline std::optional<std::string> speech() const: Returns the last recognised final sentence.

inline std::optional<std::string> incrementalSpeech() const: Returns the last recognised incremental sentence.

inline std::optional<std::string> locale() const: Returns the last recognised speech locale.

inline void onSpeaking(std::function<void(bool)> callback)

Registers a callback function, to be invoked everytime speech is detected.

See also:

Voice::onSpeech and Voice::onIncrementalSpeech to register a callback for the actual recognised speech
Voice::speech and Voice::incrementalSpeech for the last recognised speech

inline void onSpeech(std::function<void(const std::string&, const std::string&)> callback)

Registers a callback function, to be invoked everytime a full speech is detected.

Only final sentences for this voice are returned, for instance at the end of a sentence. The callback takes two arguments:

the recognised speech text,
the locale.

See also: Voice::onIncrementalSpeech for incremental feedback

inline void onSpeech(std::function<void(const std::string&)> callback)

Deprecated:: Use void onSpeech(std::function<void(const std::string &, const std::string &)> callback).

inline void onIncrementalSpeech(std::function<void(const std::string&, const std::string&)> callback)

Registers a callback function, to be invoked everytime speech any speech is detected.

The callback will be triggered every time the speech recogniser returns a result, even if it is not the final result. The callback takes two arguments:

the recognised speech text,
the locale.

See also: Voice::onSpeech for final feedback

inline void onIncrementalSpeech(std::function<void(const std::string&)> callback)

Deprecated:: Use void onSpeech(std::function<void(const std::string &, const std::string &)> callback).