diff --git a/complementary_filter/test/BUILD.bazel b/complementary_filter/test/BUILD.bazel
deleted file mode 100644
index 6049dac..0000000
--- a/complementary_filter/test/BUILD.bazel
+++ /dev/null
@@ -1,11 +0,0 @@
-load("@rules_cc//cc:defs.bzl", "cc_test")
-
-cc_test(
-    name = "complementary_filter_test",
-    timeout = "short",
-    srcs = ["complementary_filter_test.cpp"],
-    deps = [
-        "//complementary_filter",
-        "@boost_ut",
-    ],
-)
diff --git a/complementary_filter/test/complementary_filter_test.cpp b/complementary_filter/test/complementary_filter_test.cpp
deleted file mode 100644
index 321ee03..0000000
--- a/complementary_filter/test/complementary_filter_test.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "complementary_filter/complementary_filter.hpp"
-
-#include <boost/ut.hpp>
-
-#include <mp-units/systems/si/si.h>
-
-auto main() -> int
-{
-  using ::boost::ut::expect;
-  using ::boost::ut::test;
-
-  test("complementary filter test") = [] {
-    using namespace mp_units::si::unit_symbols;
-
-    // NOLINTBEGIN(readability-magic-numbers)
-    {
-      auto lowpass = complementary_filter::lowpass<20 * Hz, 5 * ms>{};
-      [[maybe_unused]] const auto [y0, yd0] = lowpass(1.0 * rad);
-    }
-
-    {
-      auto highpass = complementary_filter::highpass<20 * Hz, 5 * ms>{};
-      [[maybe_unused]] const auto [y0, z0] = highpass(1.0 * rad);
-    }
-    // NOLINTEND(readability-magic-numbers)
-  };
-}
diff --git a/complementary_filter/BUILD.bazel b/filter/BUILD.bazel
similarity index 62%
rename from complementary_filter/BUILD.bazel
rename to filter/BUILD.bazel
index 3f33eb7..72ed1a1 100644
--- a/complementary_filter/BUILD.bazel
+++ b/filter/BUILD.bazel
@@ -1,8 +1,8 @@
 load("@rules_cc//cc:defs.bzl", "cc_library")
 
 cc_library(
-    name = "complementary_filter",
-    hdrs = ["complementary_filter.hpp"],
+    name = "filter",
+    hdrs = ["filter.hpp"],
     visibility = ["//:__subpackages__"],
     deps = ["@mp_units"],
 )
diff --git a/complementary_filter/complementary_filter.hpp b/filter/filter.hpp
similarity index 98%
rename from complementary_filter/complementary_filter.hpp
rename to filter/filter.hpp
index a300689..6623bd1 100644
--- a/complementary_filter/complementary_filter.hpp
+++ b/filter/filter.hpp
@@ -6,7 +6,7 @@
 // Low and high pass filters
 // https://gitlab.com/mechmotum/row_filter/-/blob/master/row_filter/complementary.py
 
-namespace complementary_filter {
+namespace filter {
 
 namespace mp = mp_units;
 namespace si = mp_units::si;
@@ -133,4 +133,4 @@ struct highpass
   }
 };
 
-}  // namespace complementary_filter
+}  // namespace filter
diff --git a/filter/test/BUILD.bazel b/filter/test/BUILD.bazel
new file mode 100644
index 0000000..53f2912
--- /dev/null
+++ b/filter/test/BUILD.bazel
@@ -0,0 +1,11 @@
+load("@rules_cc//cc:defs.bzl", "cc_test")
+
+cc_test(
+    name = "filter_test",
+    timeout = "short",
+    srcs = ["filter_test.cpp"],
+    deps = [
+        "//filter",
+        "@boost_ut",
+    ],
+)
diff --git a/filter/test/filter_test.cpp b/filter/test/filter_test.cpp
new file mode 100644
index 0000000..fe2e227
--- /dev/null
+++ b/filter/test/filter_test.cpp
@@ -0,0 +1,30 @@
+#include "filter/filter.hpp"
+
+#include <boost/ut.hpp>
+
+#include <mp-units/systems/si/si.h>
+
+using namespace mp_units::si::unit_symbols;
+
+// NOLINTBEGIN(readability-magic-numbers)
+constexpr auto cutoff_freq = 20 * Hz;
+constexpr auto sample_period = 5 * ms;
+// NOLINTEND(readability-magic-numbers)
+
+auto main() -> int
+{
+  using ::boost::ut::expect;
+  using ::boost::ut::test;
+
+  test("high pass filter invocable") = [] {
+    auto highpass = filter::highpass<cutoff_freq, sample_period>{};
+    [[maybe_unused]] const auto [y0, z0] = highpass(1.0 * rad);
+    [[maybe_unused]] const auto _ = y0.number();
+  };
+
+  test("low pass filter invocable") = [] {
+    auto lowpass = filter::lowpass<cutoff_freq, sample_period>{};
+    [[maybe_unused]] const auto [y0, yd0] = lowpass(1.0 * rad);
+    [[maybe_unused]] const auto _ = y0.number();
+  };
+}