Exponantial filter refactoring

[silanus23]

I have tried to solve the issue on #365. Tried to go with the way of low_pass_filter:

• Added support both std::vector<double> and geometry_msgs::msg::WrenchStamped.
• Created a header in control_toolbox and making it use control_filters header.
• Expanded tests in a way that it tests all data types and their results in the new style.

[Copilot]

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 ExponentialFilter class in control_toolbox with template support for multiple data types
• Updates control_filters::ExponentialFilter to delegate filtering operations to the control_toolbox implementation
• 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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[codecov-commenter]

Codecov Report

❌ Patch coverage is 93.45794% with 7 lines in your changes missing coverage. Please review.
✅ Project coverage is 83.73%. Comparing base (d12a587) to head (79f4b3f).

Files with missing lines	Patch %	Lines
...box/include/control_toolbox/exponential_filter.hpp	76.19%	2 Missing and 3 partials ⚠️
...box/include/control_filters/exponential_filter.hpp	60.00%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #493      +/-   ##
==========================================
+ Coverage   83.01%   83.73%   +0.71%     
==========================================
  Files          29       30       +1     
  Lines        1967     2078     +111     
  Branches      110      112       +2     
==========================================
+ Hits         1633     1740     +107     
  Misses        268      268              
- Partials       66       70       +4     

Flag	Coverage Δ
unittests	83.73% <93.45%> (+0.71%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...x/test/control_filters/test_exponential_filter.cpp	100.00% <100.00%> (ø)
...box/include/control_filters/exponential_filter.hpp	65.00% <60.00%> (-1.67%)	⬇️
...box/include/control_toolbox/exponential_filter.hpp	76.19% <76.19%> (ø)

... and 1 file with indirect coverage changes

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[christophfroehlich]

Thanks for the contribution. I think this can be simplified a bit, but maybe I've overseen something.

[silanus23]

@christophfroehlich Sorry for late response uncontrollabe delay. I copied the low_pass_filter structure. Seems like those specializations are unnecessary . Thanks for the review!

[christophfroehlich]

no worries, thanks for coming back on this. I have removed the specialization in the master branch already, have a look.

[christophfroehlich]

Thanks for the follow-up, there is only one open conversation left.

[Copilot]

Pull Request Overview

Copilot reviewed 4 out of 4 changed files in this pull request and generated 2 comments.

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[Copilot]

Pull Request Overview

Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.

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[christophfroehlich]

Some thoughts about filters::exponentialSmoothing, what do you think?

[christophfroehlich]

Suggested change

#include "control_toolbox/filters.hpp"

This is not needed any more here, right?

[christophfroehlich]

but here we could use filters::exponentialSmoothing if we also change that to a templated method, right?

control_toolbox/control_toolbox/include/control_toolbox/filters.hpp

Lines 43 to 47 in d12a587

	static inline double exponentialSmoothing(
	double current_raw_value, double last_smoothed_value, double alpha)
	{
	return alpha * current_raw_value + (1 - alpha) * last_smoothed_value;
	}

we would increase code coverage for free then ;)