delete unnecessary test

Signed-off-by: silanus23 <berkantali23@outlook.com>

Author: silanus23

control_toolbox/test/control_filters/test_exponential_filter.cpp

@@ -145,78 +145,6 @@ TEST_F(FilterTest, TestExponentialWrenchFilterComputation)
   ASSERT_NEAR(out.wrench.torque.z, calculated.wrench.torque.z, 1e-9);
 }
 
-TEST_F(FilterTest, TestExponentialWrenchFilterAllParameters)
-{
-  double alpha = 0.7;
-  node_->declare_parameter("alpha", rclcpp::ParameterValue(alpha));
-  geometry_msgs::msg::WrenchStamped in, calculated, out;
-  in.header.frame_id = "world";
-  in.wrench.force.x = 1.0;
-  in.wrench.force.y = 2.0;
-  in.wrench.force.z = 3.0;
-  in.wrench.torque.x = 10.0;
-  in.wrench.torque.y = 20.0;
-  in.wrench.torque.z = 30.0;
-
-  std::shared_ptr<filters::FilterBase<geometry_msgs::msg::WrenchStamped>> filter_ =
-    std::make_shared<control_filters::ExponentialFilter<geometry_msgs::msg::WrenchStamped>>();
-
-  ASSERT_TRUE(filter_->configure(
-    "", "TestExponentialFilter", node_->get_node_logging_interface(),
-    node_->get_node_parameters_interface()));
-
-  // First filter pass, output should be equal to the input
-  ASSERT_TRUE(filter_->update(in, out));
-  ASSERT_EQ(out.wrench.force.x, in.wrench.force.x);
-  ASSERT_EQ(out.wrench.force.y, in.wrench.force.y);
-  ASSERT_EQ(out.wrench.force.z, in.wrench.force.z);
-  ASSERT_EQ(out.wrench.torque.x, in.wrench.torque.x);
-  ASSERT_EQ(out.wrench.torque.y, in.wrench.torque.y);
-  ASSERT_EQ(out.wrench.torque.z, in.wrench.torque.z);
-
-  // Initialize calculated with first output
-  calculated = out;
-
-  // Second filter pass with a step in values
-  in.wrench.force.x = 2.0;
-  in.wrench.force.y = 4.0;
-  in.wrench.force.z = 6.0;
-  in.wrench.torque.x = 20.0;
-  in.wrench.torque.y = 40.0;
-  in.wrench.torque.z = 60.0;
-  ASSERT_TRUE(filter_->update(in, out));
-
-  // Manual exponential smoothing calculation for all fields
-  calculated.wrench.force.x = alpha * in.wrench.force.x + (1.0 - alpha) * calculated.wrench.force.x;
-  calculated.wrench.force.y = alpha * in.wrench.force.y + (1.0 - alpha) * calculated.wrench.force.y;
-  calculated.wrench.force.z = alpha * in.wrench.force.z + (1.0 - alpha) * calculated.wrench.force.z;
-  calculated.wrench.torque.x =
-    alpha * in.wrench.torque.x + (1.0 - alpha) * calculated.wrench.torque.x;
-  calculated.wrench.torque.y =
-    alpha * in.wrench.torque.y + (1.0 - alpha) * calculated.wrench.torque.y;
-  calculated.wrench.torque.z =
-    alpha * in.wrench.torque.z + (1.0 - alpha) * calculated.wrench.torque.z;
-
-  // Third filter pass, check against manual calculation
-  ASSERT_TRUE(filter_->update(in, out));
-  calculated.wrench.force.x = alpha * in.wrench.force.x + (1.0 - alpha) * calculated.wrench.force.x;
-  calculated.wrench.force.y = alpha * in.wrench.force.y + (1.0 - alpha) * calculated.wrench.force.y;
-  calculated.wrench.force.z = alpha * in.wrench.force.z + (1.0 - alpha) * calculated.wrench.force.z;
-  calculated.wrench.torque.x =
-    alpha * in.wrench.torque.x + (1.0 - alpha) * calculated.wrench.torque.x;
-  calculated.wrench.torque.y =
-    alpha * in.wrench.torque.y + (1.0 - alpha) * calculated.wrench.torque.y;
-  calculated.wrench.torque.z =
-    alpha * in.wrench.torque.z + (1.0 - alpha) * calculated.wrench.torque.z;
-
-  ASSERT_NEAR(out.wrench.force.x, calculated.wrench.force.x, 1e-9);
-  ASSERT_NEAR(out.wrench.force.y, calculated.wrench.force.y, 1e-9);
-  ASSERT_NEAR(out.wrench.force.z, calculated.wrench.force.z, 1e-9);
-  ASSERT_NEAR(out.wrench.torque.x, calculated.wrench.torque.x, 1e-9);
-  ASSERT_NEAR(out.wrench.torque.y, calculated.wrench.torque.y, 1e-9);
-  ASSERT_NEAR(out.wrench.torque.z, calculated.wrench.torque.z, 1e-9);
-}
-
 TEST_F(FilterTest, TestExponentialWrenchFilterMissingParameter)
 {
   std::shared_ptr<filters::FilterBase<geometry_msgs::msg::WrenchStamped>> filter_ =