diff --git a/include/control_toolbox/low_pass_filter.hpp b/include/control_toolbox/low_pass_filter.hpp
index df214d09..8c8acded 100644
--- a/include/control_toolbox/low_pass_filter.hpp
+++ b/include/control_toolbox/low_pass_filter.hpp
@@ -101,30 +101,16 @@ class LowPassFilter
    */
   bool update(const T & data_in, T & data_out);
 
-  bool set_params(
-    const double sampling_frequency,
-    const double damping_frequency,
-    const double damping_intensity)
-  {
-    // TODO(roncapat): parameters validation
-    this->sampling_frequency = sampling_frequency;
-    this->damping_frequency = damping_frequency;
-    this->damping_intensity = damping_intensity;
-    compute_internal_params();
-    return true;
-  }
-
   bool is_configured() const
   {
     return configured_;
   }
 
-protected:
   /*!
    * \brief Internal computation of the feedforward and feedbackward coefficients
    * according to the LowPassFilter parameters.
    */
-  void compute_internal_params()
+  void set_params(double sampling_frequency, double damping_frequency, double damping_intensity)
   {
     a1_ = exp(
       -1.0 / sampling_frequency * (2.0 * M_PI * damping_frequency) /
@@ -134,13 +120,12 @@ class LowPassFilter
 
 private:
   // Filter parameters
+  double a1_; /** feedbackward coefficient. */
+  double b1_; /** feedforward coefficient. */
   /** internal data storage (double). */
   double filtered_value, filtered_old_value, old_value;
   /** 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. */
   bool configured_ = false;
 };
 
@@ -157,8 +142,6 @@ LowPassFilter<T>::~LowPassFilter()
 template <typename T>
 bool LowPassFilter<T>::configure()
 {
-  compute_internal_params();
-
   // Initialize storage Vectors
   filtered_value = filtered_old_value = old_value = 0;
   // TODO(destogl): make the size parameterizable and more intelligent is using complex types