hlrc

    #include <hlrc_server/phoneme.h>

    #include <hlrc_server/soundchunk.h>

    #include <hlrc_server/gazetargetAction.h>

    #include <hlrc_server/animationAction.h>

    #include <hlrc_server/mouthtargetAction.h>

    #include <hlrc_server/utteranceAction.h>

class MiddlewareROS : public Middleware{

#ifndef ROS_SUPPORT

public:

        printf("> ERROR: hlrc was compiled without ROS middleware support. Please use MiddlewareRSB() instead!\n\n");

        exit(EXIT_FAILURE);

    }

    void publish_default_emotion(RobotEmotion e, bool blocking){};

    void publish_current_emotion(RobotEmotion e, bool blocking){};

    void publish_gaze_target(RobotGaze g, bool blocking){};

    void publish_mouth_target(RobotMouth m, bool blocking){};

    void publish_head_animation(RobotHeadAnimation a, bool blocking) {};

    void publish_speech(std::string text, bool blocking) {};

#else

public:

    MiddlewareROS(std::string scope);

    void publish_current_emotion(RobotEmotion e, bool blocking);

    void publish_default_emotion(RobotEmotion e, bool blocking);

    void publish_gaze_target(RobotGaze target, bool blocking);

    void publish_mouth_target(RobotMouth target, bool blocking);

    void publish_head_animation(RobotHeadAnimation a, bool blocking);

    void publish_speech(std::string text, bool blocking);

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *default_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::emotionstateAction>  *current_emotionstate_ac;

    actionlib::SimpleActionClient<hlrc_server::gazetargetAction>    *gazetarget_ac;

#endif

};