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documentation/Jonas/tts.tex

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+\section{Text to Speech}
+
+During the implementation of our solution for the objective stated in \ref{sec
+  problem statement} we included suitable functions to get a feedback about
+what the robot is doing at the moment during code execution. In addition to the
+text output on the console we decided to let the robot speak about what he is
+doing using Voice output. We therefore implemented a Speech output using the
+official Aldebaran NAOqi API \cite{naoqi-sdk} which provides a Text-to-Speech
+function, which, unfortunately is blocking. So we extended the Speech output in
+such a way, that the Speech output does not influence the actual execution of
+the program by running it in a separate thread. We also ensured, that the robot
+does not repeat the same sentence over and over again, if he remains in the
+same state.
+
+\section{Goal Confirmation}
+
+It makes sense to let the robot check, if he has actually scored a goal after
+he performed a goal kick. We therefore implemented a simple goal confirmation
+algorithm, which is visualized in figure \ref{j figure goal confirmation}. The
+robot tries to find the goal and the ball. If the ball is between both
+goalposts after the goal kick is performed, a successful goal kick is
+confirmed.
+
+\begin{figure}[ht]
+  \includegraphics[width=\textwidth]{\fig goal-confirmation}
+  \caption{Goal confirmation}
+  \label{j figure goal confirmation}
+\end{figure}