From 51cf27275b580d4fdfa58f6eb67db47e88a8bc95 Mon Sep 17 00:00:00 2001
From: Chris Lewis <clewis@clewisDeskTop.(none)>
Date: Fri, 30 May 2014 09:58:25 -0500
Subject: [PATCH] Minor changes requested by reviewer

---
 .../smoothing_trajectory_filter.h                     |  2 +-
 .../planning_request_adapters_plugin_description.xml  | 11 +++++------
 2 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/industrial_trajectory_filters/include/industrial_trajectory_filters/smoothing_trajectory_filter.h b/industrial_trajectory_filters/include/industrial_trajectory_filters/smoothing_trajectory_filter.h
index 18439a63..251c56bd 100644
--- a/industrial_trajectory_filters/include/industrial_trajectory_filters/smoothing_trajectory_filter.h
+++ b/industrial_trajectory_filters/include/industrial_trajectory_filters/smoothing_trajectory_filter.h
@@ -67,7 +67,7 @@ class SmoothingTrajectoryFilter
   double gain_; /*!< gain_ is the sum of the coeficients to achieve unity gain overall */
   int num_coef_; /*< the number of coefficients  */
   std::vector<double> coef_; /*!< Vector of coefficients  */ 
-  bool initialized_; /*!< was the Init() function called sucessfully? */
+  bool initialized_; /*!< was the init() function called sucessfully? */
 };
 
 }
diff --git a/industrial_trajectory_filters/planning_request_adapters_plugin_description.xml b/industrial_trajectory_filters/planning_request_adapters_plugin_description.xml
index e37e17e0..71917ceb 100644
--- a/industrial_trajectory_filters/planning_request_adapters_plugin_description.xml
+++ b/industrial_trajectory_filters/planning_request_adapters_plugin_description.xml
@@ -28,12 +28,11 @@
            ROS Parameters Example:
                   smoothing_filter_name: /move_group/smoothing_5_coef
                   smoothing_5_coef:
-                            num_coeficients: 5
-                            coeficient_0:  0.25
-                            coeficient_1:  0.50
-                            coeficient_2:  1.00
-                            coeficient_3:  0.50
-                            coeficient_4:  0.25
+                            - 0.25
+                            - 0.50
+                            - 1.00
+                            - 0.50
+                            - 0.25
     </description>
   </class>