diff --git a/lbr_fri_ros2/include/lbr_fri_ros2/utils.hpp b/lbr_fri_ros2/include/lbr_fri_ros2/utils.hpp
index fbbf8478..e71fd236 100644
--- a/lbr_fri_ros2/include/lbr_fri_ros2/utils.hpp
+++ b/lbr_fri_ros2/include/lbr_fri_ros2/utils.hpp
@@ -46,7 +46,9 @@ class ExponentialFilter {
    * @param[in] previous The previous smoothed value.
    * @return double The returned smoothed value.
    */
-  inline double compute(const double &current, const double &previous);
+  inline double compute(const double &current, const double &previous) {
+    return filters::exponentialSmoothing(current, previous, alpha_);
+  };
 
   /**
    * @brief Set the cutoff frequency object. Internally computes the new #alpha_.
@@ -61,14 +63,14 @@ class ExponentialFilter {
    *
    * @return const double&
    */
-  inline const double &get_sample_time() const;
+  inline const double &get_sample_time() const { return sample_time_; };
 
   /**
    * @brief Get #alpha_.
    *
    * @return const double&
    */
-  inline const double &get_alpha() const;
+  inline const double &get_alpha() const { return alpha_; };
 
 protected:
   /**
diff --git a/lbr_fri_ros2/src/utils.cpp b/lbr_fri_ros2/src/utils.cpp
index 54d4afd6..4d278f14 100644
--- a/lbr_fri_ros2/src/utils.cpp
+++ b/lbr_fri_ros2/src/utils.cpp
@@ -7,10 +7,6 @@ ExponentialFilter::ExponentialFilter(const double &cutoff_frequency, const doubl
   set_cutoff_frequency(cutoff_frequency, sample_time);
 }
 
-inline double ExponentialFilter::compute(const double &current, const double &previous) {
-  return filters::exponentialSmoothing(current, previous, alpha_);
-}
-
 void ExponentialFilter::set_cutoff_frequency(const double &cutoff_frequency,
                                              const double &sample_time) {
   cutoff_frequency_ = cutoff_frequency;
@@ -24,10 +20,6 @@ void ExponentialFilter::set_cutoff_frequency(const double &cutoff_frequency,
   }
 }
 
-inline const double &ExponentialFilter::get_sample_time() const { return sample_time_; }
-
-inline const double &ExponentialFilter::get_alpha() const { return alpha_; }
-
 double ExponentialFilter::compute_alpha_(const double &cutoff_frequency,
                                          const double &sample_time) {
   double omega_3db = 2.0 * M_PI * sample_time * cutoff_frequency;