Revision 888a909b 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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