Rolling mean accumulator (ros-controls#637)

* fixing rolling_mean_accumulator issue * fixed variables' namespace
StoglRobotics-forks · May 31, 2023 · ff2045d · ff2045d
1 parent 169ff1c
commit ff2045d
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
@@ -25,7 +25,7 @@
 #include "realtime_tools/realtime_publisher.h"
 
 #include <boost/function.hpp>
-#include "rcpputils/rolling_mean_accumulator.hpp"
+#include "rcppmath/rolling_mean_accumulator.hpp"
 
 namespace steering_odometry
 {
@@ -253,8 +253,8 @@ class SteeringOdometry
   double traction_left_wheel_old_pos_;
   /// Rolling mean accumulators for the linear and angular velocities:
   size_t velocity_rolling_window_size_;
-  rcpputils::RollingMeanAccumulator<double> linear_acc_;
-  rcpputils::RollingMeanAccumulator<double> angular_acc_;
+  rcppmath::RollingMeanAccumulator<double> linear_acc_;
+  rcppmath::RollingMeanAccumulator<double> angular_acc_;
 };
 }  // namespace steering_odometry
 

diff --git a/steering_controllers_library/src/steering_odometry.cpp b/steering_controllers_library/src/steering_odometry.cpp
@@ -326,8 +326,8 @@ void SteeringOdometry::integrate_exact(double linear, double angular)
 
 void SteeringOdometry::reset_accumulators()
 {
-  linear_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
-  angular_acc_ = rcpputils::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
+  linear_acc_ = rcppmath::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
+  angular_acc_ = rcppmath::RollingMeanAccumulator<double>(velocity_rolling_window_size_);
 }
 
 }  // namespace steering_odometry