text: #pragma once
  #include <ros/ros.h>
  #include <boost/shared_ptr.hpp>
  #include "SpeechRecognitionClient.h"
  #include "UserRecognitionClient.h"
  #include "CommandSenderClient.h"
  #include <std_msgs/String.h>
  #include <RDP/DetectMotion.h>
  #include <string>
  #include <vector>
  
  class Unity{
      boost::shared_ptr<nui::SpeechRecognitionClient> m_speechRecog;
      boost::shared_ptr<nui::UserRecognitionClient> m_userRecog;
      boost::shared_ptr<spp::CommandSenderClient> m_cmd;
      boost::shared_ptr<ros::NodeHandle> m_node;
      std::vector<unsigned int> m_detectMotionId;
      void speechRetCb(const std_msgs::StringConstPtr &ret);
      void detectMotionCb(const RDP::DetectMotionConstPtr &motion);
  
  public:
      Unity(int argc, char *argv[]);
      void startSpeechRecognition();
      void lcdPuts(const std::string &str);
      void lcdClear();
      void motor(int rDuty, int lDuty);
      void statusUpdate();
      std::vector<unsigned int> detectMotionId(){ 
          std::vector<unsigned int> detectMotionId = m_detectMotionId;
          m_detectMotionId.clear();
          return detectMotionId; 
      }
  
  };
  
  