Rename base class again and move to different namespace

ros-controls · Nov 4, 2024 · 3171fb0 · 3171fb0
1 parent e04739b
commit 3171fb0
Show file tree

Hide file tree

Showing 3 changed files with 25 additions and 25 deletions.
diff --git a/include/control_filters/low_pass_filter.hpp b/include/control_filters/low_pass_filter.hpp
@@ -22,10 +22,10 @@
 // Deprecation notice
 #ifdef _WIN32
 #pragma message( \
-  "This header include is deprecated. Please update your code to use 'low_pass_filter_ros.hpp' header and link against 'control_toolbox' library.")  //NOLINT
+  "This header include is deprecated. Please update your code to use 'control_toolbox/low_pass_filter_ros.hpp' header.")  //NOLINT
 #else
 #warning \
-  "This header include is deprecated. Please update your code to use 'low_pass_filter_ros.hpp' header and link against 'control_toolbox' library." //NOLINT
+  "This header include is deprecated. Please update your code to use 'control_toolbox/low_pass_filter_ros.hpp' header." //NOLINT
 #endif
 
 namespace control_filters

diff --git a/include/control_filters/low_pass_filter_ros.hpp b/include/control_filters/low_pass_filter_ros.hpp
@@ -24,7 +24,7 @@
 #include "filters/filter_base.hpp"
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 
-#include "low_pass_filter_base.hpp"
+#include "control_toolbox/low_pass_filter.hpp"
 #include "low_pass_filter_parameters.hpp"
 
 namespace control_filters
@@ -100,7 +100,7 @@ class LowPassFilterRos : public filters::FilterBase<T>
   std::shared_ptr<rclcpp::Logger> logger_;
   std::shared_ptr<low_pass_filter::ParamListener> parameter_handler_;
   low_pass_filter::Params parameters_;
-  std::shared_ptr<LowPassFilterBase<T>> lpf_;
+  std::shared_ptr<control_toolbox::LowPassFilter<T>> lpf_;
 };
 
 template <typename T>
@@ -131,7 +131,7 @@ bool LowPassFilterRos<T>::configure()
     }
   }
   parameters_ = parameter_handler_->get_params();
-  lpf_ = std::make_shared<LowPassFilterBase<T>>(
+  lpf_ = std::make_shared<control_toolbox::LowPassFilter<T>>(
     parameters_.sampling_frequency,
     parameters_.damping_frequency,
     parameters_.damping_intensity);

diff --git a/.../control_filters/low_pass_filter_base.hpp → include/control_toolbox/low_pass_filter.hpp b/.../control_filters/low_pass_filter_base.hpp → include/control_toolbox/low_pass_filter.hpp
@@ -12,8 +12,8 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#ifndef CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_
-#define CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_
+#ifndef CONTROL_TOOLBOX__LOW_PASS_FILTER_HPP_
+#define CONTROL_TOOLBOX__LOW_PASS_FILTER_HPP_
 
 #include <Eigen/Dense>
 #include <cmath>
@@ -23,11 +23,11 @@
 
 #include "geometry_msgs/msg/wrench_stamped.hpp"
 
-namespace control_filters
+namespace control_toolbox
 {
 
 /***************************************************/
-/*! \class LowPassFilterBase
+/*! \class LowPassFilter
   \brief A Low-pass filter class.
 
   This class implements a low-pass filter for
@@ -71,23 +71,23 @@ namespace control_filters
 /***************************************************/
 
 template <typename T>
-class LowPassFilterBase
+class LowPassFilter
 {
 public:
   // Default constructor
-  LowPassFilterBase();
+  LowPassFilter();
 
-  LowPassFilterBase(double sampling_frequency, double damping_frequency, double damping_intensity){
+  LowPassFilter(double sampling_frequency, double damping_frequency, double damping_intensity){
     set_params(sampling_frequency, damping_frequency, damping_intensity);
   }
 
   /*!
-   * \brief Destructor of LowPassFilterBase class.
+   * \brief Destructor of LowPassFilter class.
    */
-  ~LowPassFilterBase();
+  ~LowPassFilter();
 
   /*!
-   * \brief Configure the LowPassFilterBase (access and process params).
+   * \brief Configure the LowPassFilter (access and process params).
    */
   bool configure();
 
@@ -122,7 +122,7 @@ class LowPassFilterBase
 protected:
   /*!
    * \brief Internal computation of the feedforward and feedbackward coefficients
-   * according to the LowPassFilterBase parameters.
+   * according to the LowPassFilter parameters.
    */
   void compute_internal_params()
   {
@@ -139,23 +139,23 @@ class LowPassFilterBase
   /** internal data storage (wrench). */
   Eigen::Matrix<double, 6, 1> msg_filtered, msg_filtered_old, msg_old;
   double sampling_frequency, damping_frequency, damping_intensity;
-  double a1_; /**< feedbackward coefficient. */
-  double b1_; /**< feedforward coefficient. */
+  double a1_; /** feedbackward coefficient. */
+  double b1_; /** feedforward coefficient. */
   bool configured_ = false;
 };
 
 template <typename T>
-LowPassFilterBase<T>::LowPassFilterBase() : a1_(1.0), b1_(0.0)
+LowPassFilter<T>::LowPassFilter() : a1_(1.0), b1_(0.0)
 {
 }
 
 template <typename T>
-LowPassFilterBase<T>::~LowPassFilterBase()
+LowPassFilter<T>::~LowPassFilter()
 {
 }
 
 template <typename T>
-bool LowPassFilterBase<T>::configure()
+bool LowPassFilter<T>::configure()
 {
   compute_internal_params();
 
@@ -171,7 +171,7 @@ bool LowPassFilterBase<T>::configure()
 }
 
 template <>
-inline bool LowPassFilterBase<geometry_msgs::msg::WrenchStamped>::update(
+inline bool LowPassFilter<geometry_msgs::msg::WrenchStamped>::update(
   const geometry_msgs::msg::WrenchStamped & data_in, geometry_msgs::msg::WrenchStamped & data_out)
 {
   if (!configured_)
@@ -204,7 +204,7 @@ inline bool LowPassFilterBase<geometry_msgs::msg::WrenchStamped>::update(
 }
 
 template <typename T>
-bool LowPassFilterBase<T>::update(const T & data_in, T & data_out)
+bool LowPassFilter<T>::update(const T & data_in, T & data_out)
 {
   if (!configured_)
   {
@@ -219,6 +219,6 @@ bool LowPassFilterBase<T>::update(const T & data_in, T & data_out)
   return true;
 }
 
-}  // namespace control_filters
+}  // namespace control_toolbox
 
-#endif  // CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_
+#endif  // CONTROL_TOOLBOX__LOW_PASS_FILTER_HPP_