Merge branch 'master' of https://projects.cit-ec.uni-bielefeld.de/git/robocup-speechrec

psConfig/tasks/restaurant/restaurant.conf

+[main]
+startdb=30;
+uttdb=35;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+[pocketsphinxinstance]
+name=confirm;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=ordering;
+jsgf=../../../psGrammar/tasks/restaurant/order.jsgf;
+rsbscope=/speechrec/psa/ordering;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=goTable;
+jsgf=../../../psGrammar/tasks/restaurant/goTable.jsgf;
+rsbscope=/speechrec/psa/goTable;
+bestpath=no;
+autoload=yes;
+

psConfig/tasks/setTable/setTable.conf

+[main]
+startdb=43;
+uttdb=47;
+silence=400;
+timeout=8;
+openDeviceDirectly=yes;
+alsadevice=sysdefault;
+
+[pocketsphinxinstance]
+name=setTable;
+jsgf=../../../psGrammar/tasks/setTable/setTable.jsgf;
+rsbscope=/speechrec/psa/setTable;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=choice;
+jsgf=../../../psGrammar/tasks/setTable/choice.jsgf;
+rsbscope=/speechrec/psa/choice;
+bestpath=no;
+autoload=yes;
+
+[pocketsphinxinstance]
+name=commands;
+jsgf=../../../psGrammar/confirm/confirm.jsgf;
+rsbscope=/speechrec/psa/confirm;
+bestpath=no;
+autoload=yes;
+
+
+

psGrammar/tasks/restaurant/commands.jsgf

+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = [tobi] [please] (<followMe> | <stop> | <place> | <table>);
+<followMe> = ((follow me) | (come [(with me) | here]) | (keep up));
+<stop> = (stop [this]);
+<place> = (save (place | location));
+<table> = (this [is] table <number>);
+<number> = (one | two | three);

psGrammar/tasks/restaurant/goTable.jsgf

+#JSGF V1.0;
+grammar restaurant_save_command;
+
+public <restaurant> = <nameGo> | <robotGo> | <nameWait> | <robotWait>;
+<nameGo> = [tobi|biron] (([please] (take the order) [please])| yes);
+<robotGo> = robot (([please] (take the order) [please])| yes);
+<nameWait> = [tobi|biron] (([please] wait [please])| no);
+<robotWait> = robot (([please] wait [please])| no);
+

psGrammar/tasks/restaurant/order.jsgf

+#JSGF V1.0;
+grammar restaurant_ordering;
+
+public <restaurant> = ([tobi] [bring me] [one | a ] <objects> [please]);
+
+<objects> = (<drinks> | <combo>);
+<combo> = (<food> (and | with) <food>);
+
+<drinks> = ((coconut milk) | (beer) | (coke) | (tea));
+<food> = ((apple) | (paprika) | (pumpernickel) | (chips) | (pretzels) | (pringles) | (biscuits) | (choco syrup) | (baby sweets) | (egg));

psGrammar/tasks/setTable/choice.jsgf

+#JSGF V1.0;
+grammar choice;
+
+public <command> = [<robot>] ((i (would like | want) [to have]) | set the table with) (<cereals> | <pringles>);
+<robot> = (tobi | biron);
+<cereals> = cereals;
+<pringles> = pringles;

psGrammar/tasks/setTable/setTable.jsgf

+#JSGF V1.0;
+grammar setTable;
+
+public <command> = [<robot>] (<start> | <cleanup>);
+<robot> = (tobi | biron);
+<start> = (start the task | set the table);
+<cleanup> =  [please] clean [up] the table [please];