speech.hpp

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/*
 * Copyright 2015 Aldebaran
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
 
 
#ifndef SPEECH_SUBSCRIBER_HPP
#define SPEECH_SUBSCRIBER_HPP
 
/*
 * LOCAL includes
 */
#include "subscriber_base.hpp"
 
/*
 * ROS includes
 */
#include <ros/ros.h>
#include <std_msgs/String.h>
 
namespace naoqi
{
namespace subscriber
{
 
class SpeechSubscriber: public BaseSubscriber<SpeechSubscriber>
{
public:
  SpeechSubscriber( const std::string& name, const std::string& speech_topic, const qi::SessionPtr& session );
  ~SpeechSubscriber(){}
 
  void reset( ros::NodeHandle& nh );
  void speech_callback( const std_msgs::StringConstPtr& speech_msg );
 
private:
 
  std::string speech_topic_;
 
  qi::AnyObject p_tts_;
  ros::Subscriber sub_speech_;
 
 
 
}; // class Speech
 
} // subscriber
}// naoqi
#endif