diff --git a/test/gtest_processor_loop_closure_falko.cpp b/test/gtest_processor_loop_closure_falko.cpp
index 13b2338a8737c6c8ed9296a3d32ab40df531d72e..ea42965e13845b7aae0705d243dbcb478a7ed245 100644
--- a/test/gtest_processor_loop_closure_falko.cpp
+++ b/test/gtest_processor_loop_closure_falko.cpp
@@ -20,17 +20,19 @@
 //
 //--------LICENSE_END--------
 #include "laser/internal/config.h"
+#include "laser/processor/processor_loop_closure_falko.h"
+#include "laser/sensor/sensor_laser_2d.h"
+#include "data/scan_data.h"
 
 #include "core/capture/capture_void.h"
 #include "core/problem/problem.h"
 #include "core/utils/utils_gtest.h"
 #include "core/yaml/parser_yaml.h"
 #include "core/utils/params_server.h"
+#include "core/state_block/state_block_derived.h"
+#include "core/state_block/state_angle.h"
 
-#include "laser/processor/processor_loop_closure_falko.h"
-#include "laser/sensor/sensor_laser_2d.h"
 
-#include "data/scan_data.h"
 
 // STL
 #include <iostream>
@@ -87,8 +89,8 @@ class ProcessorLoopClosureFalkoTest : public testing::Test
         _params.angle_step_ = 0.00701248;
         sensor =
             SensorBase::emplace<SensorLaser2d>(problem->getHardware(),
-                                               std::make_shared<StateBlock>(Vector2d::Zero()),
-                                               std::make_shared<StateBlock>(Vector1d::Zero()),
+                                               std::make_shared<StatePoint2d>(Vector2d::Zero()),
+                                               std::make_shared<StateAngle>(Vector1d::Zero()),
                                                _params);
 
         // Emplace processor
diff --git a/test/gtest_processor_loop_closure_falko_icp.cpp b/test/gtest_processor_loop_closure_falko_icp.cpp
index a6e4baf9bf24842fe69b34385905677c32a03b61..2755d46ffa948bbd32da6740cb0836407647f4c5 100644
--- a/test/gtest_processor_loop_closure_falko_icp.cpp
+++ b/test/gtest_processor_loop_closure_falko_icp.cpp
@@ -19,18 +19,21 @@
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 //
 //--------LICENSE_END--------
-#include "laser/internal/config.h"
-#include "core/capture/capture_void.h"
-#include "core/problem/problem.h"
-#include "core/utils/utils_gtest.h"
 
+#include "laser/internal/config.h"
 #include "laser/processor/processor_loop_closure_falko_icp.h"
 #include "laser/sensor/sensor_laser_2d.h"
 
+#include "data/scan_data.h"
+
+#include "core/capture/capture_void.h"
+#include "core/problem/problem.h"
+#include "core/utils/utils_gtest.h"
+#include "core/state_block/state_block_derived.h"
+#include "core/state_block/state_angle.h"
 #include "core/yaml/parser_yaml.h"
 #include "core/utils/params_server.h"
 
-#include "data/scan_data.h"
 
 // STL
 #include <iostream>
@@ -61,8 +64,8 @@ class ProcessorLoopClosureFalkoIcpTest : public testing::Test
         _params.range_min_  = 0;
         _params.range_max_  = 200;
         sensor =
-        SensorBase::emplace<SensorLaser2d>(problem->getHardware(), std::make_shared<StateBlock>(Vector2d::Zero()),
-                                           std::make_shared<StateBlock>(Vector1d::Zero()), _params);
+        SensorBase::emplace<SensorLaser2d>(problem->getHardware(), std::make_shared<StatePoint2d>(Vector2d::Zero()),
+                                           std::make_shared<StateAngle>(Vector1d::Zero()), _params);
 
         // Emplace processor
         ParserYaml   parser = ParserYaml("test/yaml/params_processor_loop_closure_falko.yaml", laser_root_dir);