\chapter{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{nao} which provides a Text-to-Speech
function. We implemented the Speech output in such a way, that the robot does
not repeat the same sentence over and over again, if he remains in the same
state. We also ensured, that the Speech output does not influence the actual
execution of the problem solution by running it in a separate thread.

\chapter{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 goal
posts 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}
