From 4ee883f5a5bac10cc794a4e105959cea6331ac3e Mon Sep 17 00:00:00 2001
From: Lea Wedmann <wedmann.lea@gmail.com>
Date: Mon, 6 Apr 2026 13:51:37 +0200
Subject: [PATCH 1/2] Fix invalid cpp20 template argument

---
 include/particle_filter/ImportanceResampling.hpp | 2 +-
 include/particle_filter/Particle.hpp             | 2 +-
 include/particle_filter/ParticleFilter.hpp       | 2 +-
 include/particle_filter/StateDistribution.hpp    | 2 +-
 4 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/include/particle_filter/ImportanceResampling.hpp b/include/particle_filter/ImportanceResampling.hpp
index e07418b..87cce08 100644
--- a/include/particle_filter/ImportanceResampling.hpp
+++ b/include/particle_filter/ImportanceResampling.hpp
@@ -31,7 +31,7 @@ class ImportanceResampling : public ResamplingStrategy<StateType> {
   /**
    * The constructor of this base class inits some members.
    */
-  explicit ImportanceResampling<StateType>(bool reset_weights = false, double particle_reset_weight = 0);
+  explicit ImportanceResampling(bool reset_weights = false, double particle_reset_weight = 0);
 
   /**
    * The destructor is empty.
diff --git a/include/particle_filter/Particle.hpp b/include/particle_filter/Particle.hpp
index 9444c5e..ddc71f1 100644
--- a/include/particle_filter/Particle.hpp
+++ b/include/particle_filter/Particle.hpp
@@ -27,7 +27,7 @@ class Particle {
    * @param state The initial state of the particle
    * @param weight The initial weight of the particle
    */
-  Particle<StateType>(const StateType& state, double weight);
+  Particle(const StateType& state, double weight);
 
   /**
    * The destructor is empty.
diff --git a/include/particle_filter/ParticleFilter.hpp b/include/particle_filter/ParticleFilter.hpp
index 4143432..1ea365f 100644
--- a/include/particle_filter/ParticleFilter.hpp
+++ b/include/particle_filter/ParticleFilter.hpp
@@ -189,7 +189,7 @@ class ParticleFilter {
    * @param os ObservationModel to use for weighting particles
    * @param ms MovementModel to use for propagation of particles
    */
-  ParticleFilter<StateType>(unsigned int numParticles, std::shared_ptr<ObservationModel<StateType>> os,
+  ParticleFilter(unsigned int numParticles, std::shared_ptr<ObservationModel<StateType>> os,
                             std::shared_ptr<MovementModel<StateType>> ms);
 
   /**
diff --git a/include/particle_filter/StateDistribution.hpp b/include/particle_filter/StateDistribution.hpp
index 2700b2c..b061ef5 100644
--- a/include/particle_filter/StateDistribution.hpp
+++ b/include/particle_filter/StateDistribution.hpp
@@ -27,7 +27,7 @@ class StateDistribution {
   /**
    * The constructor of this base class is empty.
    */
-  StateDistribution<StateType>();
+  StateDistribution();
 
   /**
    * The destructor is empty.

From 45dac306a27e156e973977400eebc0f3155dc91f Mon Sep 17 00:00:00 2001
From: Lea Wedmann <wedmann.lea@gmail.com>
Date: Mon, 6 Apr 2026 14:12:34 +0200
Subject: [PATCH 2/2] Fix formatting

---
 include/particle_filter/ParticleFilter.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/particle_filter/ParticleFilter.hpp b/include/particle_filter/ParticleFilter.hpp
index 1ea365f..0b646c2 100644
--- a/include/particle_filter/ParticleFilter.hpp
+++ b/include/particle_filter/ParticleFilter.hpp
@@ -190,7 +190,7 @@ class ParticleFilter {
    * @param ms MovementModel to use for propagation of particles
    */
   ParticleFilter(unsigned int numParticles, std::shared_ptr<ObservationModel<StateType>> os,
-                            std::shared_ptr<MovementModel<StateType>> ms);
+                 std::shared_ptr<MovementModel<StateType>> ms);
 
   /**
    * The destructor releases the particle lists.