use rolling mean from rcppmath (#211)

* use rolling mean from rcppmath

Signed-off-by: Karsten Knese <[email protected]>

* remove test build

* add explicit dependency on rcpputils

Co-authored-by: Bence Magyar <[email protected]>

Author: Karsten1987

diff_drive_controller/CMakeLists.txt

@@ -18,6 +18,7 @@ find_package(nav_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(realtime_tools REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_msgs REQUIRED)
@@ -38,6 +39,7 @@ ament_target_dependencies(diff_drive_controller
   pluginlib
   rclcpp
   rclcpp_lifecycle
+  rcpputils
   realtime_tools
   tf2
   tf2_msgs
@@ -91,14 +93,6 @@ if(BUILD_TESTING)
     ros2_control_test_assets
   )
 
-  ament_add_gmock(
-    test_accumulator
-    test/test_accumulator.cpp
-  )
-
-  target_include_directories(test_accumulator PRIVATE include)
-  ament_target_dependencies(test_accumulator)
-
 endif()
 
 ament_export_dependencies(

diff_drive_controller/include/diff_drive_controller/odometry.hpp

@@ -24,8 +24,8 @@
 
 #include <cmath>
 
-#include "diff_drive_controller/rolling_mean_accumulator.hpp"
 #include "rclcpp/time.hpp"
+#include "rcppmath/rolling_mean_accumulator.hpp"
 
 namespace diff_drive_controller
 {
@@ -50,7 +50,7 @@ class Odometry
   void setVelocityRollingWindowSize(size_t velocity_rolling_window_size);
 
 private:
-  using RollingMeanAccumulator = diff_drive_controller::RollingMeanAccumulator<double>;
+  using RollingMeanAccumulator = rcppmath::RollingMeanAccumulator<double>;
 
   void integrateRungeKutta2(double linear, double angular);
   void integrateExact(double linear, double angular);

diff_drive_controller/include/diff_drive_controller/rolling_mean_accumulator.hpp

@@ -16,6 +16,7 @@
   <depend>nav_msgs</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_lifecycle</depend>
+  <depend>rcpputils</depend>
   <depend>realtime_tools</depend>
   <depend>tf2</depend>
   <depend>tf2_msgs</depend>