diff --git a/include/core/state_block/state_composite.h b/include/core/state_block/state_composite.h
index 7989fd807eab08187c802e0386af02de56ef4f1b..d0ddf4e7fc453212f345640f746cca212170f3b7 100644
--- a/include/core/state_block/state_composite.h
+++ b/include/core/state_block/state_composite.h
@@ -31,7 +31,6 @@ class VectorComposite : public std::unordered_map < char, Eigen::VectorXd >
         VectorComposite() {};
         VectorComposite(const StateStructure& _s);
         VectorComposite(const StateStructure& _s, const std::list<int>& _sizes);
-        VectorComposite(const VectorComposite & v) : unordered_map<char, VectorXd>(v){};
         /**
          * \brief Construct from Eigen::VectorXd and structure
          *
diff --git a/src/sensor/sensor_base.cpp b/src/sensor/sensor_base.cpp
index e78904988b99b50695d10a44d2249b9dffc31874..0700d403f00f24fc4effcc8d176cdea9277be1a5 100644
--- a/src/sensor/sensor_base.cpp
+++ b/src/sensor/sensor_base.cpp
@@ -301,7 +301,7 @@ bool SensorBase::process(const CaptureBasePtr capture_ptr)
 {
     capture_ptr->setSensor(shared_from_this());
 
-    for (const auto processor : processor_list_)
+    for (const auto& processor : processor_list_)
     {
 
 #ifdef PROFILING
diff --git a/src/state_block/state_composite.cpp b/src/state_block/state_composite.cpp
index 169bc82ca8edd1fa751bac1e309aa2ce1eb95379..04658a0fb6ccc9fd20412e650709d0d9320e169c 100644
--- a/src/state_block/state_composite.cpp
+++ b/src/state_block/state_composite.cpp
@@ -112,9 +112,9 @@ wolf::VectorComposite operator +(const wolf::VectorComposite &_x, const wolf::Ve
     return xpy;
 }
 
-wolf::VectorComposite operator -(const wolf::VectorComposite &_x, const wolf::VectorComposite &_y)
+VectorComposite operator -(const VectorComposite &_x, const VectorComposite &_y)
 {
-    wolf::VectorComposite xpy;
+    VectorComposite xpy;
     for (const auto& pair_i_xi : _x)
     {
         const auto& i = pair_i_xi.first;
@@ -124,6 +124,17 @@ wolf::VectorComposite operator -(const wolf::VectorComposite &_x, const wolf::Ve
     return xpy;
 }
 
+VectorComposite operator -(const wolf::VectorComposite &_x)
+{
+    wolf::VectorComposite m;
+    for (const auto& pair_i_xi : _x)
+    {
+        const auto& i = pair_i_xi.first;
+        m.emplace(i, - _x.at(i));
+    }
+    return m;
+}
+
 void VectorComposite::set (const VectorXd& _v, const StateStructure& _structure, const std::list<int>& _sizes)
 {
     int index = 0;
@@ -145,17 +156,6 @@ void VectorComposite::setZero()
         pair_key_vec.second.setZero();
 }
 
-wolf::VectorComposite operator -(const wolf::VectorComposite &_x)
-{
-    wolf::VectorComposite m;
-    for (const auto& pair_i_xi : _x)
-    {
-        const auto& i = pair_i_xi.first;
-        m.emplace(i, - _x.at(i));
-    }
-    return m;
-}
-
 ////// MATRIX COMPOSITE //////////
 
 bool MatrixComposite::emplace(const char &_row, const char &_col, const Eigen::MatrixXd &_mat_blk)