Revision 482adb6d server/include/MiddlewareROS.h

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server/include/MiddlewareROS.h
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#include "ROS/AnimationCallbackWrapperROS.h"
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#include "ROS/SpeechCallbackWrapperROS.h"
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#endif
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#include <boost/shared_ptr.hpp>
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#include <memory>
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#define ROS_ACTION_CALL_TIMEOUT 30.0


  		




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	void init(){};


  		




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	void tick(){};


  		




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	boost::shared_ptr<Utterance> tts_call(std::string text) {


  		




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		return boost::shared_ptr<Utterance>(new Utterance());


  		




  
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	std::shared_ptr<Utterance> tts_call(std::string text) {


  		




  
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		return std::shared_ptr<Utterance>(new Utterance());


  		




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	}


  		




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#else


  		




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	~MiddlewareROS();


  		




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	void init();


  		




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	void tick();


  		




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	boost::shared_ptr<Utterance> tts_call(std::string text);


  		




  
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	std::shared_ptr<Utterance> tts_call(std::string text);


  		




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private:


  		




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	// boost::shared_ptr<ros::NodeHandle> node_handle;


  		




  
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	// std::shared_ptr<ros::NodeHandle> node_handle;


  		




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	ros::NodeHandle* ros_node_handle;


  		




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	bool tick_necessary;


  		




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	// listen to tf tree


  		




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	tf2_ros::Buffer tfBuffer;


  		




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	boost::shared_ptr<tf2_ros::TransformListener> tfListener;


  		




  
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	std::shared_ptr<tf2_ros::TransformListener> tfListener;


  		




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	// FIXME: These pointers are never destroyed. Shouldn't they be shared_ptrs?


  		




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	AnimationCallbackWrapper* animation_action_server;


  		












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