diff --git a/include/aikido/constraint/detail/JointStateSpaceHelpers-impl.hpp b/include/aikido/constraint/detail/JointStateSpaceHelpers-impl.hpp
index d19e42202c..92db13fa1e 100644
--- a/include/aikido/constraint/detail/JointStateSpaceHelpers-impl.hpp
+++ b/include/aikido/constraint/detail/JointStateSpaceHelpers-impl.hpp
@@ -242,7 +242,7 @@ struct createSampleableFor_impl<statespace::dart::SO2Joint>
     if (isLimited(_stateSpace->getJoint()))
       throw std::invalid_argument("SO2Joint must not have limits.");
 
-    return dart::common::make_unique<SO2Sampleable>(
+    return dart::common::make_unique<SO2UniformSampler>(
         std::move(_stateSpace), std::move(_rng));
   }
 };
diff --git a/include/aikido/constraint/uniform/SO2UniformSampler.hpp b/include/aikido/constraint/uniform/SO2UniformSampler.hpp
index 9c070168ef..8ca0d656bc 100644
--- a/include/aikido/constraint/uniform/SO2UniformSampler.hpp
+++ b/include/aikido/constraint/uniform/SO2UniformSampler.hpp
@@ -1,5 +1,6 @@
 #ifndef AIKIDO_CONSTRAINT_UNIFORM_SO2UNIFORMSAMPLER_HPP_
 #define AIKIDO_CONSTRAINT_UNIFORM_SO2UNIFORMSAMPLER_HPP_
+
 #include "../../statespace/SO2.hpp"
 #include "../Sampleable.hpp"
 
@@ -9,14 +10,14 @@ namespace constraint {
 /// Uniform sampler for SO2States. Its SampleGenerators will sample
 /// uniformly from SO2, and the sequence of samples is
 /// deterministically generated given a random number generator seed.
-class SO2Sampleable : public constraint::Sampleable
+class SO2UniformSampler : public constraint::Sampleable
 {
 public:
   /// Constructor.
   /// \param _space SO2 in which this constraint operates.
   /// \param _rng Random number generator which determines the sampling
   ///        sequence of this constraint's SampleGenerators.
-  SO2Sampleable(
+  SO2UniformSampler(
       std::shared_ptr<statespace::SO2> _space,
       std::unique_ptr<common::RNG> _rng);
 
diff --git a/include/aikido/constraint/uniform/SO3UniformSampler.hpp b/include/aikido/constraint/uniform/SO3UniformSampler.hpp
index 0a50b54458..e4e108ef8b 100644
--- a/include/aikido/constraint/uniform/SO3UniformSampler.hpp
+++ b/include/aikido/constraint/uniform/SO3UniformSampler.hpp
@@ -1,5 +1,6 @@
 #ifndef AIKIDO_CONSTRAINT_UNIFORM_SO3UNIFORMSAMPLER_HPP_
 #define AIKIDO_CONSTRAINT_UNIFORM_SO3UNIFORMSAMPLER_HPP_
+
 #include "../../statespace/SO3.hpp"
 #include "../Sampleable.hpp"
 
diff --git a/src/constraint/uniform/SO2UniformSampler.cpp b/src/constraint/uniform/SO2UniformSampler.cpp
index abda691036..8e61968134 100644
--- a/src/constraint/uniform/SO2UniformSampler.cpp
+++ b/src/constraint/uniform/SO2UniformSampler.cpp
@@ -29,7 +29,7 @@ class SO2UniformSampleGenerator : public constraint::SampleGenerator
   std::unique_ptr<common::RNG> mRng;
   std::uniform_real_distribution<double> mDistribution;
 
-  friend class SO2Sampleable;
+  friend class SO2UniformSampler;
 };
 
 //==============================================================================
@@ -67,7 +67,7 @@ bool SO2UniformSampleGenerator::canSample() const
 }
 
 //==============================================================================
-SO2Sampleable::SO2Sampleable(
+SO2UniformSampler::SO2UniformSampler(
     std::shared_ptr<statespace::SO2> _space, std::unique_ptr<common::RNG> _rng)
   : mSpace(std::move(_space)), mRng(std::move(_rng))
 {
@@ -79,14 +79,14 @@ SO2Sampleable::SO2Sampleable(
 }
 
 //==============================================================================
-statespace::StateSpacePtr SO2Sampleable::getStateSpace() const
+statespace::StateSpacePtr SO2UniformSampler::getStateSpace() const
 {
   return mSpace;
 }
 
 //==============================================================================
 std::unique_ptr<constraint::SampleGenerator>
-SO2Sampleable::createSampleGenerator() const
+SO2UniformSampler::createSampleGenerator() const
 {
   return std::unique_ptr<SO2UniformSampleGenerator>(
       new SO2UniformSampleGenerator(mSpace, mRng->clone()));
diff --git a/tests/constraint/test_CyclicSampleable.cpp b/tests/constraint/test_CyclicSampleable.cpp
index 6d3b196c67..b24050b948 100644
--- a/tests/constraint/test_CyclicSampleable.cpp
+++ b/tests/constraint/test_CyclicSampleable.cpp
@@ -9,7 +9,7 @@
 
 
 using aikido::statespace::SO2;
-using aikido::constraint::SO2Sampleable;
+using aikido::constraint::SO2UniformSampler;
 using aikido::statespace::R1;
 using aikido::statespace::R2;
 using aikido::constraint::CyclicSampleable;
@@ -34,7 +34,7 @@ TEST(CyclicSampleableTest, ConstructorThrowsOnNullConstraint)
 TEST(CyclicSampleableTest, ConstructorThrowsOnUnlimitiedSampleGenerator)
 {
     auto so2 = std::make_shared<SO2>();
-    auto constraint = std::make_shared<SO2Sampleable>(so2, make_rng());
+    auto constraint = std::make_shared<SO2UniformSampler>(so2, make_rng());
     EXPECT_THROW(std::make_shared<CyclicSampleable>(constraint),
                  std::invalid_argument);
 }
diff --git a/tests/constraint/test_SO2UniformSampler.cpp b/tests/constraint/test_SO2UniformSampler.cpp
index 86f43fc78f..2991178286 100644
--- a/tests/constraint/test_SO2UniformSampler.cpp
+++ b/tests/constraint/test_SO2UniformSampler.cpp
@@ -5,7 +5,7 @@
 #include "SampleGeneratorCoverage.hpp"
 
 using aikido::statespace::SO2;
-using aikido::constraint::SO2Sampleable;
+using aikido::constraint::SO2UniformSampler;
 using aikido::constraint::SampleGenerator;
 using aikido::common::RNG;
 using aikido::common::RNGWrapper;
@@ -44,26 +44,26 @@ class SO2UniformSamplerTests : public ::testing::Test
 TEST_F(SO2UniformSamplerTests, constructor_StateSpaceIsNull_Throws)
 {
   EXPECT_THROW({
-    SO2Sampleable(nullptr, mRng->clone());
+    SO2UniformSampler(nullptr, mRng->clone());
   }, std::invalid_argument);
 }
 
 TEST_F(SO2UniformSamplerTests, constructor_RNGIsNull_Throws)
 {
   EXPECT_THROW({
-    SO2Sampleable(mStateSpace, nullptr);
+    SO2UniformSampler(mStateSpace, nullptr);
   }, std::invalid_argument);
 }
 
 TEST_F(SO2UniformSamplerTests, getStateSpace)
 {
-  SO2Sampleable constraint(mStateSpace, mRng->clone());
+  SO2UniformSampler constraint(mStateSpace, mRng->clone());
   EXPECT_EQ(mStateSpace, constraint.getStateSpace());
 }
 
 TEST_F(SO2UniformSamplerTests, createSampleGenerator)
 {
-  SO2Sampleable constraint(mStateSpace, mRng->clone());
+  SO2UniformSampler constraint(mStateSpace, mRng->clone());
   auto generator = constraint.createSampleGenerator();
 
   ASSERT_TRUE(!!generator);
diff --git a/tests/constraint/test_SampleableSubspace.cpp b/tests/constraint/test_SampleableSubspace.cpp
index 4302f7211c..6984e92eff 100644
--- a/tests/constraint/test_SampleableSubspace.cpp
+++ b/tests/constraint/test_SampleableSubspace.cpp
@@ -12,7 +12,7 @@ using aikido::constraint::CartesianProductSampleable;
 using aikido::constraint::SampleablePtr;
 using aikido::statespace::CartesianProduct;
 using aikido::statespace::SO2;
-using aikido::constraint::SO2Sampleable;
+using aikido::constraint::SO2UniformSampler;
 using aikido::statespace::R3;
 using aikido::constraint::R3BoxConstraint;
 using aikido::common::RNG;
@@ -32,7 +32,7 @@ class CartesianProductSampleableTest : public testing::Test
       new RNGWrapper<std::default_random_engine>(0));
     rvSampler = std::make_shared<R3BoxConstraint>(
       rvss, rng->clone(), Eigen::Vector3d(0, 0, 0), Eigen::Vector3d(1, 1, 1));
-    so2Sampler = std::make_shared<SO2Sampleable>(
+    so2Sampler = std::make_shared<SO2UniformSampler>(
       so2, rng->clone());
     sampleables.push_back(rvSampler);
     sampleables.push_back(so2Sampler);
@@ -46,7 +46,7 @@ class CartesianProductSampleableTest : public testing::Test
   std::shared_ptr<R3> rvss;
   std::shared_ptr<SO2> so2;
   std::shared_ptr<R3BoxConstraint> rvSampler;
-  std::shared_ptr<SO2Sampleable> so2Sampler;
+  std::shared_ptr<SO2UniformSampler> so2Sampler;
 
 };