From 6992328371e982e8276613b8fa0243bbe86db226 Mon Sep 17 00:00:00 2001
From: Reza Kermani <kermani.areza@gmail.com>
Date: Tue, 30 May 2023 19:03:58 -0400
Subject: [PATCH 1/2] fixing rolling_mean_accumulator issue

---
 .../include/steering_controllers_library/steering_odometry.hpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
index 002db32354..f349b2d3f7 100644
--- 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
 {

From 7bce1f996337fc2e26bb7d44c9a928c9b2e3fab6 Mon Sep 17 00:00:00 2001
From: Reza Kermani <kermani.areza@gmail.com>
Date: Tue, 30 May 2023 19:54:25 -0400
Subject: [PATCH 2/2] fixed variables' namespace

---
 .../steering_controllers_library/steering_odometry.hpp        | 4 ++--
 steering_controllers_library/src/steering_odometry.cpp        | 4 ++--
 2 files changed, 4 insertions(+), 4 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
index f349b2d3f7..bb5421160b 100644
--- a/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
+++ b/steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp
@@ -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
index 28cd7fc80d..a00a5bbe8b 100644
--- 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