diff --git a/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp b/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
index 5c95f9f5790889494d9e3cfc7f24c02edbad65ae..537d537653d156df46be330c1fa5d4f9319f47d4 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/heightmap.hpp
@@ -9,6 +9,7 @@
 #define CROSBOT_FASTSLAM_HEIGHTMAP_HPP_
 
 #include <ros/ros.h>
+#include <crosbot_fastslam/parameters.hpp>
 #include <crosbot_fastslam/probtable.hpp>
 #include <crosbot/data.hpp>
 #include <crosbot/geometry.hpp>
@@ -44,50 +45,6 @@ struct MapCloud : public PointCloud {
 	}
 };
 
-struct FastSLAMParameters {
-public:
-	uint32_t numberOfParticles;
-	double gain;
-	float initialOccupiedOdds;
-	double initialZ;
-
-	double updateThresholdXY, updateThresholdTheta;
-
-	double minDistanceBetweenSnaps;
-
-	crosbot::Pose searchPose;
-	double searchDistance, searchFOV;
-	double maxSensorRange;
-
-	unsigned int mapRows, mapColumns, patchRows, patchColumns;
-
-	double maxHeight, minHeight;
-	bool addMotionCopy;
-
-	FastSLAMParameters() {
-		numberOfParticles = DEFAULT_NUMPARTICLES;
-		gain = DEFAULT_GAINVALUE;
-
-		initialOccupiedOdds = ProbabilityTable.lodds(DEFAULT_UNOBSERVEDLODDS);
-		initialZ = 0;
-
-		updateThresholdXY = DEFAULT_DISTANCETHRESHOLD;
-		updateThresholdTheta = DEG2RAD(DEFAULT_ANGULARTHRESHOLD);
-
-		minDistanceBetweenSnaps = DEFAULT_SNAP_THRESHOLD;
-
-		searchDistance = -1;
-		searchFOV = DEG2RAD(60);
-
-		mapRows = MULTIMAP_ROWS; mapColumns = MULTIMAP_COLUMNS;
-		patchRows = HEIGHTMAP_ROWS; patchColumns = HEIGHTMAP_COLUMNS;
-
-		minHeight = 0; maxHeight = INFINITY;
-		maxSensorRange = INFINITY;
-		addMotionCopy = false;
-	}
-};
-
 /*
  * The actual map values
  * Keep this as small as possible
diff --git a/crosbot_fastslam/include/crosbot_fastslam/parameters.hpp b/crosbot_fastslam/include/crosbot_fastslam/parameters.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..00f6c586ba60adfa96f0b609142c8f837c60a47b
--- /dev/null
+++ b/crosbot_fastslam/include/crosbot_fastslam/parameters.hpp
@@ -0,0 +1,79 @@
+/*
+ * parameters.hpp
+ *
+ *  FASTSlam Parameters
+ *
+ *  Created on: 28/04/2017
+ *      Author: rescue
+ */
+
+#ifndef CROSBOT_FASTSLAM_PARAMETERS_HPP_
+#define CROSBOT_FASTSLAM_PARAMETERS_HPP_
+
+#include <crosbot/geometry/defines.hpp>
+#include <crosbot/geometry/poses.hpp>
+#include <crosbot_fastslam/constants.hpp>
+#include <crosbot_fastslam/probtable.hpp>
+
+#include <cmath>
+
+namespace crosbot {
+namespace fastslam {
+
+struct FastSLAMParameters {
+public:
+    uint32_t numberOfParticles;
+    double gain;
+    float initialOccupiedOdds;
+    double initialZ;
+
+    double updateThresholdXY;
+    double updateThresholdTheta;
+
+    double minDistanceBetweenSnaps;
+
+    crosbot::Pose searchPose;
+    double searchDistance;
+    double searchFOV;
+    double maxSensorRange;
+
+    unsigned int mapRows;
+    unsigned int mapColumns;
+    unsigned int patchRows;
+    unsigned int patchColumns;
+
+    double maxHeight;
+    double minHeight;
+    bool addMotionCopy;
+
+    FastSLAMParameters() {
+        numberOfParticles = DEFAULT_NUMPARTICLES;
+        gain = DEFAULT_GAINVALUE;
+
+        initialOccupiedOdds = ProbabilityTable.lodds(DEFAULT_UNOBSERVEDLODDS);
+        initialZ = 0;
+
+        updateThresholdXY = DEFAULT_DISTANCETHRESHOLD;
+        updateThresholdTheta = DEG2RAD(DEFAULT_ANGULARTHRESHOLD);
+
+        minDistanceBetweenSnaps = DEFAULT_SNAP_THRESHOLD;
+
+        searchDistance = -1;
+        searchFOV = DEG2RAD(60);
+
+        mapRows = MULTIMAP_ROWS;
+        mapColumns = MULTIMAP_COLUMNS;
+        patchRows = HEIGHTMAP_ROWS;
+        patchColumns = HEIGHTMAP_COLUMNS;
+
+        minHeight = 0;
+        maxHeight = INFINITY;
+        maxSensorRange = INFINITY;
+        addMotionCopy = false;
+    }
+};
+
+} // namespace fastslam
+} // namespace crosbot
+
+#endif /* PARAMETERS_HPP_ */
diff --git a/crosbot_fastslam/include/crosbot_fastslam/probtable.hpp b/crosbot_fastslam/include/crosbot_fastslam/probtable.hpp
index ef1605ac8667992d672b1f8330c834c6ce192c43..64228b262ab120cbe3fdb5338c00c1571db6c217 100644
--- a/crosbot_fastslam/include/crosbot_fastslam/probtable.hpp
+++ b/crosbot_fastslam/include/crosbot_fastslam/probtable.hpp
@@ -8,7 +8,7 @@
 #ifndef CROSBOT_FASTSLAM_PROBTABLE_H_
 #define CROSBOT_FASTSLAM_PROBTABLE_H_
 
-#include "constants.hpp"
+#include <crosbot_fastslam/constants.hpp>
 
 #include <math.h>
 #include <stdlib.h>