diff --git a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
index 5565b8a628..ddc0c0c690 100644
--- a/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
+++ b/wpimath/src/main/native/include/frc/estimator/AngleStatistics.h
@@ -9,8 +9,7 @@
 #include "Eigen/Core"
 
 namespace frc {
-namespace {
-double NormalizeAngle(double angle) {
+inline double NormalizeAngle(double angle) {
   static constexpr double tau = 2 * wpi::math::pi;
 
   angle -= std::floor(angle / tau) * tau;
@@ -19,7 +18,6 @@ double NormalizeAngle(double angle) {
   }
   return angle;
 }
-}  // namespace
 
 /**
  * Subtracts a and b while normalizing the resulting value in the selected row