From d7c04c218fb03741f7a85784cc7dfcfb59df3167 Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Mon, 13 Oct 2025 06:51:06 +0000
Subject: [PATCH] No need for the specialization of update()

---
 .../control_filters/low_pass_filter.hpp       | 40 -------------------
 1 file changed, 40 deletions(-)

diff --git a/control_toolbox/include/control_filters/low_pass_filter.hpp b/control_toolbox/include/control_filters/low_pass_filter.hpp
index f0d79309..2c806362 100644
--- a/control_toolbox/include/control_filters/low_pass_filter.hpp
+++ b/control_toolbox/include/control_filters/low_pass_filter.hpp
@@ -134,46 +134,6 @@ bool LowPassFilter<T>::configure()
   return lpf_->configure();
 }
 
-template <>
-inline bool LowPassFilter<geometry_msgs::msg::WrenchStamped>::update(
-  const geometry_msgs::msg::WrenchStamped & data_in, geometry_msgs::msg::WrenchStamped & data_out)
-{
-  if (!this->configured_ || !lpf_ || !lpf_->is_configured())
-  {
-    throw std::runtime_error("Filter is not configured");
-  }
-
-  // Update internal parameters if required
-  if (parameter_handler_->is_old(parameters_))
-  {
-    parameters_ = parameter_handler_->get_params();
-    lpf_->set_params(
-      parameters_.sampling_frequency, parameters_.damping_frequency, parameters_.damping_intensity);
-  }
-
-  return lpf_->update(data_in, data_out);
-}
-
-template <>
-inline bool LowPassFilter<std::vector<double>>::update(
-  const std::vector<double> & data_in, std::vector<double> & data_out)
-{
-  if (!this->configured_ || !lpf_ || !lpf_->is_configured())
-  {
-    throw std::runtime_error("Filter is not configured");
-  }
-
-  // Update internal parameters if required
-  if (parameter_handler_->is_old(parameters_))
-  {
-    parameters_ = parameter_handler_->get_params();
-    lpf_->set_params(
-      parameters_.sampling_frequency, parameters_.damping_frequency, parameters_.damping_intensity);
-  }
-
-  return lpf_->update(data_in, data_out);
-}
-
 template <typename T>
 bool LowPassFilter<T>::update(const T & data_in, T & data_out)
 {