Parameters.h

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#pragma once

#include <string>

namespace amcl3d
{
class Parameters
{
public:
  explicit Parameters();

  std::string base_frame_id_;
  std::string odom_frame_id_;
  std::string global_frame_id_;
  std::string map_path_;

  bool set_initial_pose_;
  double init_x_, init_y_, init_z_, init_a_;
  double init_x_dev_, init_y_dev_, init_z_dev_, init_a_dev_;

  float grid_slice_;
  double publish_point_cloud_rate_;
  double publish_grid_slice_rate_;
  double publish_grid_tf_rate_;

  double sensor_dev_;
  double sensor_range_;

  int num_particles_;

  double odom_x_mod_, odom_y_mod_, odom_z_mod_, odom_a_mod_;

  int resample_interval_;

  double update_rate_;
  double d_th_, a_th_;

  double take_off_height_;

  double alpha_;

private:
  void exitWithParameterError(const char* parameter_str);
};

}  // namespace amcl3d