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No need for the specialization of update() #509

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Merged
merged 2 commits into from
Oct 22, 2025
Merged

No need for the specialization of update() #509

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d7c04c2
No need for the specialization of update()
christophfroehlich Oct 13, 2025
8f2963a
Merge branch 'master' into remove/overloads
christophfroehlich Oct 22, 2025
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40 changes: 0 additions & 40 deletions control_toolbox/include/control_filters/low_pass_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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)
{
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