Exponantial filter refactoring #493
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Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
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Pull Request Overview
This PR refactors the exponential filter implementation to use a common backend filter from control_toolbox instead of maintaining separate logic. The refactoring introduces support for additional data types including std::vector<double> and geometry_msgs::msg::WrenchStamped.
- Adds a new
ExponentialFilterclass incontrol_toolboxwith template support for multiple data types - Updates
control_filters::ExponentialFilterto delegate filtering operations to thecontrol_toolboximplementation - Expands test coverage with comprehensive tests for the new data types and edge cases
Reviewed Changes
Copilot reviewed 4 out of 4 changed files in this pull request and generated 4 comments.
| File | Description |
|---|---|
| control_toolbox/include/control_toolbox/exponential_filter.hpp | New template-based exponential filter implementation with support for multiple data types |
| control_toolbox/include/control_filters/exponential_filter.hpp | Refactored to use control_toolbox backend with specialized templates for WrenchStamped and vector |
| control_toolbox/src/control_filters/exponential_filter.cpp | Added plugin exports for new supported data types |
| control_toolbox/test/control_filters/test_exponential_filter.cpp | Comprehensive test suite covering all supported data types and edge cases |
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control_toolbox/test/control_filters/test_exponential_filter.cpp
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Co-authored-by: Copilot <[email protected]>
Co-authored-by: Copilot <[email protected]>
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arne48,
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harderthan,
mamueluth,
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saikishor
Codecov Report❌ Patch coverage is Additional details and impacted files@@ Coverage Diff @@
## ros2-master #493 +/- ##
===============================================
+ Coverage 80.77% 81.68% +0.90%
===============================================
Files 29 30 +1
Lines 2023 2178 +155
Branches 124 125 +1
===============================================
+ Hits 1634 1779 +145
- Misses 320 326 +6
- Partials 69 73 +4
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Signed-off-by: silanus23 <[email protected]>
Signed-off-by: silanus23 <[email protected]>
christophfroehlich
requested changes
Oct 6, 2025
| using Traits = FilterTraits<T>; | ||
| using StorageType = typename Traits::StorageType; | ||
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| StorageType input_value, output_value, old_value; |
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We don't have to store the last input and output?
Plus, in ros-controls we use code style with trailing _ for class member variables.
Suggested change
| StorageType input_value, output_value, old_value; | |
| StorageType old_value_; |
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| Traits::initialize(output_value); | ||
| Traits::initialize(input_value); | ||
| Traits::initialize(old_value); |
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Suggested change
| Traits::initialize(output_value); | |
| Traits::initialize(input_value); | |
| Traits::initialize(old_value); | |
| Traits::initialize(old_value_); |
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| if (Traits::is_nan(output_value) || Traits::is_empty(output_value)) | ||
| { | ||
| if (!Traits::is_finite(data_in)) | ||
| { | ||
| return false; | ||
| } | ||
| Traits::assign(old_value, data_in); | ||
| } | ||
| else | ||
| { | ||
| Traits::validate_input(data_in, output_value, data_out); | ||
| } |
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Suggested change
| if (Traits::is_nan(output_value) || Traits::is_empty(output_value)) | |
| { | |
| if (!Traits::is_finite(data_in)) | |
| { | |
| return false; | |
| } | |
| Traits::assign(old_value, data_in); | |
| } | |
| else | |
| { | |
| Traits::validate_input(data_in, output_value, data_out); | |
| } | |
| if (Traits::is_nan(old_value_) || Traits::is_empty(old_value_)) | |
| { | |
| if (!Traits::is_finite(data_in)) | |
| { | |
| return false; | |
| } | |
| Traits::assign(old_value_, data_in); | |
| } | |
| else | |
| { | |
| Traits::validate_input(data_in, old_value_, data_out); | |
| } |
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| Traits::assign(input_value, data_in); | ||
| // Exponential filter update: y[n] = α * x[n] + (1-α) * y[n-1] | ||
| output_value = alpha_ * input_value + (1.0 - alpha_) * old_value; | ||
| old_value = output_value; | ||
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| Traits::assign(data_out, output_value); |
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Suggested change
| Traits::assign(input_value, data_in); | |
| // Exponential filter update: y[n] = α * x[n] + (1-α) * y[n-1] | |
| output_value = alpha_ * input_value + (1.0 - alpha_) * old_value; | |
| old_value = output_value; | |
| Traits::assign(data_out, output_value); | |
| // Exponential filter update: y[n] = α * x[n] + (1-α) * y[n-1] | |
| old_value_ = alpha_ * data_in + (1.0 - alpha_) * old_value_; | |
| Traits::assign(data_out, old_value_); |
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| #include "geometry_msgs/msg/wrench_stamped.hpp" |
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| #include "geometry_msgs/msg/wrench_stamped.hpp" |
do we need this here?
| template <typename T> | ||
| bool ExponentialFilter<T>::update(const T & data_in, T & data_out) | ||
| { | ||
| if (!this->configured_) |
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Suggested change
| if (!this->configured_) | |
| if (!this->configured_ || !expo_ || !expo_->is_configured()) |
| } | ||
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| template <> | ||
| inline bool ExponentialFilter<std::vector<double>>::update( |
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do we need this overload at all?
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| template <typename T> | ||
| bool ExponentialFilter<T>::update(const T & data_in, T & data_out) | ||
| template <> |
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do we need this overload at all?
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I have tried to solve the issue on #365. Tried to go with the way of
low_pass_filter:std::vector<double>andgeometry_msgs::msg::WrenchStamped.control_toolboxand making it usecontrol_filtersheader.