Rename to *Base

include/control_filters/low_pass_filter.hpp → include/control_filters/low_pass_filter_base.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_HPP_
-#define CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
+#ifndef CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_
+#define CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_
 
 #include <Eigen/Dense>
 #include <cmath>
@@ -27,7 +27,7 @@ namespace control_filters
 {
 
 /***************************************************/
-/*! \class LowPassFilter
+/*! \class LowPassFilterBase
   \brief A Low-pass filter class.
 
   This class implements a low-pass filter for
@@ -64,32 +64,30 @@ namespace control_filters
 
   \section Usage
 
-  The LowPassFilter class is meant to be instantiated as a filter in
-  a controller but can also be used elsewhere.
   For manual instantiation, you should first call configure()
   (in non-realtime) and then call update() at every update step.
 
 */
 /***************************************************/
 
 template <typename T>
-class LowPassFilter
+class LowPassFilterBase
 {
 public:
   // Default constructor
-  LowPassFilter();
+  LowPassFilterBase();
 
-  LowPassFilter(double sampling_frequency, double damping_frequency, double damping_intensity){
+  LowPassFilterBase(double sampling_frequency, double damping_frequency, double damping_intensity){
     set_params(sampling_frequency, damping_frequency, damping_intensity);
   }
 
   /*!
-   * \brief Destructor of LowPassFilter class.
+   * \brief Destructor of LowPassFilterBase class.
    */
-  ~LowPassFilter();
+  ~LowPassFilterBase();
 
   /*!
-   * \brief Configure the LowPassFilter (access and process params).
+   * \brief Configure the LowPassFilterBase (access and process params).
    */
   bool configure();
 
@@ -124,7 +122,7 @@ class LowPassFilter
 protected:
   /*!
    * \brief Internal computation of the feedforward and feedbackward coefficients
-   * according to the LowPassFilter parameters.
+   * according to the LowPassFilterBase parameters.
    */
   void compute_internal_params()
   {
@@ -147,17 +145,17 @@ class LowPassFilter
 };
 
 template <typename T>
-LowPassFilter<T>::LowPassFilter() : a1_(1.0), b1_(0.0)
+LowPassFilterBase<T>::LowPassFilterBase() : a1_(1.0), b1_(0.0)
 {
 }
 
 template <typename T>
-LowPassFilter<T>::~LowPassFilter()
+LowPassFilterBase<T>::~LowPassFilterBase()
 {
 }
 
 template <typename T>
-bool LowPassFilter<T>::configure()
+bool LowPassFilterBase<T>::configure()
 {
   compute_internal_params();
 
@@ -173,7 +171,7 @@ bool LowPassFilter<T>::configure()
 }
 
 template <>
-inline bool LowPassFilter<geometry_msgs::msg::WrenchStamped>::update(
+inline bool LowPassFilterBase<geometry_msgs::msg::WrenchStamped>::update(
   const geometry_msgs::msg::WrenchStamped & data_in, geometry_msgs::msg::WrenchStamped & data_out)
 {
   if (!configured_)
@@ -206,7 +204,7 @@ inline bool LowPassFilter<geometry_msgs::msg::WrenchStamped>::update(
 }
 
 template <typename T>
-bool LowPassFilter<T>::update(const T & data_in, T & data_out)
+bool LowPassFilterBase<T>::update(const T & data_in, T & data_out)
 {
   if (!configured_)
   {
@@ -223,4 +221,4 @@ bool LowPassFilter<T>::update(const T & data_in, T & data_out)
 
 }  // namespace control_filters
 
-#endif  // CONTROL_FILTERS__LOW_PASS_FILTER_HPP_
+#endif  // CONTROL_FILTERS__LOW_PASS_FILTER_BASE_HPP_

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.hpp"
+#include "low_pass_filter_base.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<LowPassFilter<T>> lpf_;
+  std::shared_ptr<LowPassFilterBase<T>> lpf_;
 };
 
 template <typename T>
@@ -131,7 +131,7 @@ bool LowPassFilterRos<T>::configure()
     }
   }
   parameters_ = parameter_handler_->get_params();
-  lpf_ = std::make_shared<LowPassFilter<T>>(
+  lpf_ = std::make_shared<LowPassFilterBase<T>>(
     parameters_.sampling_frequency,
     parameters_.damping_frequency,
     parameters_.damping_intensity);

test/control_filters/test_load_low_pass_filter_ros.cpp

@@ -39,7 +39,7 @@ TEST(TestLoadLowPassFilter, load_low_pass_filter_double)
 
   std::string filter_type = "control_filters/LowPassFilterDouble";
   ASSERT_TRUE(filter_loader.isClassAvailable(filter_type)) << sstr.str();
-  ASSERT_NO_THROW(filter = filter_loader.createSharedInstance(filter_type));
+  EXPECT_NO_THROW(filter = filter_loader.createSharedInstance(filter_type));
 
   rclcpp::shutdown();
 }
@@ -61,7 +61,7 @@ TEST(TestLoadLowPassFilter, load_low_pass_filter_wrench)
 
   std::string filter_type = "control_filters/LowPassFilterWrench";
   ASSERT_TRUE(filter_loader.isClassAvailable(filter_type)) << sstr.str();
-  ASSERT_NO_THROW(filter = filter_loader.createSharedInstance(filter_type));
+  EXPECT_NO_THROW(filter = filter_loader.createSharedInstance(filter_type));
 
   rclcpp::shutdown();
 }