diff --git a/include/core/state_block/has_state_blocks.h b/include/core/state_block/has_state_blocks.h
index c1858d42b3769a47fc982f76701ab98dac8b30c0..843e48b46d54261b315d0dfbafc95e2ac31555b9 100644
--- a/include/core/state_block/has_state_blocks.h
+++ b/include/core/state_block/has_state_blocks.h
@@ -73,9 +73,9 @@ class HasStateBlocks
         void            getState(Eigen::VectorXd& _state, const StateStructure& _sub_structure = StateStructure()) const;
         Eigen::VectorXd getState(const StateStructure& _sub_structure = StateStructure()) const;
 
-        VectorComposite getStateComposite() const;
-        bool            getStateComposite(VectorComposite& _state) const;
-        void            setStateComposite(const VectorComposite& _state);
+        VectorComposite getVectorComposite() const;
+        bool            getVectorComposite(VectorComposite& _state) const;
+        void            setVectorComposite(const VectorComposite& _state);
 
         // Perturb state with noise
         void            perturb(double amplitude = 0.01);
diff --git a/src/problem/problem.cpp b/src/problem/problem.cpp
index 4dcc5f26980269f4497b375ba9353b2b9abc6823..91f2545b973c5eb26d75fb389dd2d239282b9e3d 100644
--- a/src/problem/problem.cpp
+++ b/src/problem/problem.cpp
@@ -382,7 +382,7 @@ inline bool Problem::getStateComposite(VectorComposite& _state) const
     {
         auto last_kf_or_aux = trajectory_ptr_->getLastKeyOrAuxFrame();
         if (last_kf_or_aux)
-            _state = last_kf_or_aux->getStateComposite();
+            _state = last_kf_or_aux->getVectorComposite();
         else
             _state = VectorComposite();
     }
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 32ae946b7582b637221acf3796daade009921b2b..4b34d54300e07c7c638d03fc77aefa6e8cbeb7cc 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -402,7 +402,7 @@ bool ProcessorMotion::getStateComposite(VectorComposite& _state) const
 {
     // TODO implement this
     if (last_ptr_ && last_ptr_->getFrame())
-        return getLast()->getFrame()->getStateComposite(_state);
+        return getLast()->getFrame()->getVectorComposite(_state);
     else
         return false;
 }
@@ -411,7 +411,7 @@ bool ProcessorMotion::getStateComposite(const TimeStamp& _ts, VectorComposite& _
 {
     // TODO implement this
     if (last_ptr_ && last_ptr_->getFrame())
-        return getLast()->getFrame()->getStateComposite(_state);
+        return getLast()->getFrame()->getVectorComposite(_state);
     else
         return false;
 }
diff --git a/src/state_block/has_state_blocks.cpp b/src/state_block/has_state_blocks.cpp
index 7bdd6b48842ed91257b308d82ae836d4ab2cee82..2c88b529cac09eaa7b3b65405d60cf417bacb416 100644
--- a/src/state_block/has_state_blocks.cpp
+++ b/src/state_block/has_state_blocks.cpp
@@ -44,7 +44,7 @@ void HasStateBlocks::removeStateBlocks(ProblemPtr _problem)
     }
 }
 
-bool HasStateBlocks::getStateComposite(VectorComposite &_state) const
+bool HasStateBlocks::getVectorComposite(VectorComposite &_state) const
 {
     for (auto &pair_key_sb : state_block_map_)
     {
@@ -53,14 +53,14 @@ bool HasStateBlocks::getStateComposite(VectorComposite &_state) const
     return true;
 }
 
-VectorComposite HasStateBlocks::getStateComposite() const
+VectorComposite HasStateBlocks::getVectorComposite() const
 {
     VectorComposite state;
-    getStateComposite(state);
+    getVectorComposite(state);
     return state;
 }
 
-void HasStateBlocks::setStateComposite(const VectorComposite &_state)
+void HasStateBlocks::setVectorComposite(const VectorComposite &_state)
 {
     for (const auto &pair_key_sb : _state)
     {