#! /usr/bin/env python                                                                                          
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PACKAGE='carebot_follower'

import math

from dynamic_reconfigure.parameter_generator_catkin import *

gen = ParameterGenerator()
gen.add("min_x", double_t, 0, "The minimum x position of the points in the box.", -0.20, -3.0,  3.0)
gen.add("max_x", double_t, 0, "The maximum x position of the points in the box.",  0.20, -3.0, 3.0)
gen.add("min_y", double_t, 0, "The minimum y position of the points in the box.", 0.10, -1.0, 3.0)
gen.add("max_y", double_t, 0, "The maximum y position of the points in the box.", 0.50, -1.0, 3.0)
gen.add("max_z", double_t, 0, "The maximum z position of the points in the box.", 0.8, 0.0, 3.0)
gen.add("goal_z", double_t, 0, "The distance away from the robot to hold the centroid.", 0.6, 0.0, 3.0)
gen.add("x_scale", double_t, 0, "The scaling factor for translational robot speed.", 1.0, 0.0, 3.0)
gen.add("z_scale", double_t, 0, "The scaling factor for rotational robot speed.", 5.0, 0.0, 10.0)


exit(gen.generate(PACKAGE, "carebot_follower_dynamic_reconfigure", "Follower"))