#include <voice.h>

Inheritance diagram for hri::Voice:

Public Member Functions
std::string	frame () const
	the name of the tf frame that correspond to this body More...

std::string	incremental_speech () const
	returns the last recognised incremental sentence (or an empty string if no speech was recognised yet). More...

void	init () override

bool	is_speaking () const
	returns speech is currently detected in this voice, ie, whether the person is currently speaking. More...

void	onIncrementalSpeech (std::function< void(const std::string &)> callback)
	Registers a callback function, to be invoked everytime speech is recognised from this voice. The callback will be triggered every time the speech recogniser returns a result, even if it is not the final result. More...

void	onSpeaking (std::function< void(bool)> callback)
	Registers a callback function, to be invoked everytime speech is detected (ie, the person is speaking). More...

void	onSpeech (std::function< void(const std::string &)> callback)
	Registers a callback function, to be invoked everytime speech is recognised from this voice. Only final sentences are returned, eg for instance at the end of a sentece. More...

std::string	speech () const
	returns the last recognised final sentence (or an empty string if no speech was recognised yet). More...

boost::optional< geometry_msgs::TransformStamped >	transform () const
	Returns the estimated (stamped) 3D transform of the voice (if available). More...

	Voice (ID id, ros::NodeHandle &nh, tf2_ros::Buffer *tf_buffer_ptr, const std::string &reference_frame)

virtual	~Voice ()

Public Member Functions inherited from hri::FeatureTracker
	FeatureTracker (const FeatureTracker &)=delete

	FeatureTracker (ID id, const ros::NodeHandle &nh)

std::string	getNamespace () const

ID	id () const

std::string	ns () const

bool	operator< (const FeatureTracker &other) const

virtual	~FeatureTracker ()

Private Member Functions
void	_onSpeech (const hri_msgs::LiveSpeechConstPtr &)

Private Attributes
std::string	_incremental_speech

bool	_is_speaking

std::string	_reference_frame

std::string	_speech

tf2_ros::Buffer *	_tf_buffer_ptr

std::vector< std::function< void(const std::string &)> >	incremental_speech_callbacks

std::vector< std::function< void(bool)> >	is_speaking_callbacks

ros::Subscriber	is_speaking_subscriber_

std::vector< std::function< void(const std::string &)> >	speech_callbacks

ros::Subscriber	speech_subscriber_

Additional Inherited Members
Protected Attributes inherited from hri::FeatureTracker
ID	id_

ros::NodeHandle	node_

std::string	ns_

Detailed Description

Definition at line 49 of file voice.h.

Constructor & Destructor Documentation

◆ Voice()

Voice::Voice	(	ID	id,
		ros::NodeHandle &	nh,
		tf2_ros::Buffer *	tf_buffer_ptr,
		const std::string &	reference_frame
	)

Definition at line 35 of file voice.cpp.

◆ ~Voice()

Voice::~Voice ( )

virtual

Definition at line 41 of file voice.cpp.

Member Function Documentation

◆ _onSpeech()

void Voice::_onSpeech ( const hri_msgs::LiveSpeechConstPtr & msg )

private

Definition at line 64 of file voice.cpp.

◆ frame()

std::string hri::Voice::frame ( ) const

inline

the name of the tf frame that correspond to this body

Definition at line 59 of file voice.h.

◆ incremental_speech()

std::string hri::Voice::incremental_speech ( ) const

inline

returns the last recognised incremental sentence (or an empty string if no speech was recognised yet).

Definition at line 88 of file voice.h.

◆ init()

void Voice::init ( )

overridevirtual

Implements hri::FeatureTracker.

Definition at line 46 of file voice.cpp.

◆ is_speaking()

bool hri::Voice::is_speaking ( ) const

inline

returns speech is currently detected in this voice, ie, whether the person is currently speaking.

Definition at line 72 of file voice.h.

◆ onIncrementalSpeech()

void hri::Voice::onIncrementalSpeech ( std::function< void(const std::string &)> callback )

inline

Registers a callback function, to be invoked everytime speech is recognised from this voice. The callback will be triggered every time the speech recogniser returns a result, even if it is not the final result.

Definition at line 121 of file voice.h.

◆ onSpeaking()

void hri::Voice::onSpeaking ( std::function< void(bool)> callback )

inline

Registers a callback function, to be invoked everytime speech is detected (ie, the person is speaking).

◆ onSpeech()

void hri::Voice::onSpeech ( std::function< void(const std::string &)> callback )

inline

Registers a callback function, to be invoked everytime speech is recognised from this voice. Only final sentences are returned, eg for instance at the end of a sentece.

See also: Voice::onIncrementalSpeech for incremental feedback

Definition at line 112 of file voice.h.

◆ speech()

std::string hri::Voice::speech ( ) const

inline

returns the last recognised final sentence (or an empty string if no speech was recognised yet).

Definition at line 80 of file voice.h.

◆ transform()

boost::optional< geometry_msgs::TransformStamped > Voice::transform ( ) const

Returns the estimated (stamped) 3D transform of the voice (if available).

Definition at line 85 of file voice.cpp.

Member Data Documentation

◆ _incremental_speech

std::string hri::Voice::_incremental_speech

private

Definition at line 134 of file voice.h.

◆ _is_speaking

bool hri::Voice::_is_speaking

private

Definition at line 132 of file voice.h.

◆ _reference_frame

std::string hri::Voice::_reference_frame

private

Definition at line 129 of file voice.h.

◆ _speech

std::string hri::Voice::_speech

private

Definition at line 133 of file voice.h.

◆ _tf_buffer_ptr

tf2_ros::Buffer* hri::Voice::_tf_buffer_ptr

private

Definition at line 130 of file voice.h.

◆ incremental_speech_callbacks

std::vector<std::function<void(const std::string&)> > hri::Voice::incremental_speech_callbacks

private

Definition at line 138 of file voice.h.

◆ is_speaking_callbacks

std::vector<std::function<void(bool)> > hri::Voice::is_speaking_callbacks

private

Definition at line 136 of file voice.h.

◆ is_speaking_subscriber_

ros::Subscriber hri::Voice::is_speaking_subscriber_

private

Definition at line 142 of file voice.h.

◆ speech_callbacks

std::vector<std::function<void(const std::string&)> > hri::Voice::speech_callbacks

private

Definition at line 137 of file voice.h.

◆ speech_subscriber_

ros::Subscriber hri::Voice::speech_subscriber_

private

Definition at line 143 of file voice.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Voice()

◆ ~Voice()

Member Function Documentation

◆ _onSpeech()

◆ frame()

◆ incremental_speech()

◆ init()

◆ is_speaking()

◆ onIncrementalSpeech()

◆ onSpeaking()

◆ onSpeech()

◆ speech()

◆ transform()

Member Data Documentation

◆ _incremental_speech

◆ _is_speaking

◆ _reference_frame

◆ _speech

◆ _tf_buffer_ptr

◆ incremental_speech_callbacks

◆ is_speaking_callbacks

◆ is_speaking_subscriber_

◆ speech_callbacks

◆ speech_subscriber_