text: #ifndef NDT2DMAPPARAM_H
  #define NDT2DMAPPARAM_H
  #include "graph_map/map_type.h"
  #include <string.h>
  #include <boost/archive/text_oarchive.hpp>
  #include <boost/archive/text_iarchive.hpp>
  #include <boost/serialization/base_object.hpp>
  #include "ros/ros.h"
  using namespace std;
  namespace perception_oru{
  namespace libgraphMap{
  
  /*!
   * ... Parameter class for mapType. Class is by choice of design fully public.  ...
   */
  
  class NDTMapParam : public MapParam{
  public:
    ~NDTMapParam(){}
    NDTMapParam(){}
    void GetParametersFromRos();
  
    double resolution_=0.4;
    std::string directory_="";
    bool saveOnDelete_=false,match2D_=false,beHMT=false,matchLaser=false;
    /*-----Boost serialization------*/
    friend class boost::serialization::access;
    template<class Archive>
    void serialize(Archive & ar, const unsigned int version){
      ar & boost::serialization::base_object<MapParam>(*this);
      ar & resolution_;
      ar & saveOnDelete_ & match2D_ & beHMT & matchLaser;
    }
  
  
  };
  
  
  }
  }
  #endif // NDT2DMAPPARAM_H
  