diff --git a/benchmark/unicycle.cpp b/benchmark/unicycle.cpp
index 0556af1c692ddb201b347b9d0ba4b2f734bc934f..87bc5c2cb06922d64c5dda81f31e1e54cfb3dd68 100644
--- a/benchmark/unicycle.cpp
+++ b/benchmark/unicycle.cpp
@@ -1,17 +1,16 @@
 #include "crocoddyl/core/actions/unicycle.hpp"
 #include "crocoddyl/core/utils/callbacks.hpp"
 #include "crocoddyl/core/solvers/ddp.hpp"
-#include<time.h>
+#include <time.h>
 
 #ifdef WITH_MULTITHREADING
-#include<omp.h>
-#endif //WITH_MULTITHREADING
-
+#include <omp.h>
+#endif  // WITH_MULTITHREADING
 
 int main() {
   bool CALLBACKS = false;
   unsigned int N = 200;  // number of nodes
-  unsigned int T = 10;  // number of trials
+  unsigned int T = 10;   // number of trials
   unsigned int MAXITER = 1;
   using namespace crocoddyl;
 
@@ -48,28 +47,30 @@ int main() {
     clock_gettime(CLOCK_MONOTONIC, &start);
     ddp.solve(xs, us, MAXITER);
     clock_gettime(CLOCK_MONOTONIC, &finish);
-    elapsed = (finish.tv_sec - start.tv_sec)*1000000.0;
-    elapsed += (finish.tv_nsec - start.tv_nsec)/ 1000.0;
+    elapsed = (finish.tv_sec - start.tv_sec) * 1000000.0;
+    elapsed += (finish.tv_nsec - start.tv_nsec) / 1000.0;
 
-    duration[i] = elapsed; //in us
+    duration[i] = elapsed;  // in us
   }
 
   double avrg_duration = duration.sum() / T;
   double min_duration = duration.minCoeff();
   double max_duration = duration.maxCoeff();
-  std::cout << "Wall time solve [us]: " << avrg_duration << " (" << min_duration << "-" << max_duration << ")" << std::endl;
+  std::cout << "Wall time solve [us]: " << avrg_duration << " (" << min_duration << "-" << max_duration << ")"
+            << std::endl;
 
   for (unsigned int i = 0; i < T; ++i) {
     clock_gettime(CLOCK_MONOTONIC, &start);
     problem.calcDiff(xs, us);
     clock_gettime(CLOCK_MONOTONIC, &finish);
-    elapsed = (finish.tv_sec - start.tv_sec)*1000000.0;
-    elapsed += (finish.tv_nsec - start.tv_nsec)/ 1000.0;
-    duration[i] = elapsed; //in us
+    elapsed = (finish.tv_sec - start.tv_sec) * 1000000.0;
+    elapsed += (finish.tv_nsec - start.tv_nsec) / 1000.0;
+    duration[i] = elapsed;  // in us
   }
 
   avrg_duration = duration.sum() / T;
   min_duration = duration.minCoeff();
   max_duration = duration.maxCoeff();
-  std::cout << "Wall time calcDiff [us]: " << avrg_duration << " (" << min_duration << "-" << max_duration << ")" << std::endl;
+  std::cout << "Wall time calcDiff [us]: " << avrg_duration << " (" << min_duration << "-" << max_duration << ")"
+            << std::endl;
 }
diff --git a/src/core/optctrl/shooting.cpp b/src/core/optctrl/shooting.cpp
index a7080835e2991d14a692fb1f5866447ef57131af..aaf79b1567b17316d8e20721da6511e2ef2701da 100644
--- a/src/core/optctrl/shooting.cpp
+++ b/src/core/optctrl/shooting.cpp
@@ -11,12 +11,11 @@
 #ifdef WITH_MULTITHREADING
 #include <omp.h>
 #define NUM_THREADS 4
-#endif //WITH_MULTITHREADING
+#endif  // WITH_MULTITHREADING
 
 namespace crocoddyl {
 
-ShootingProblem::ShootingProblem(const Eigen::VectorXd& x0,
-                                 const std::vector<ActionModelAbstract*>& running_models,
+ShootingProblem::ShootingProblem(const Eigen::VectorXd& x0, const std::vector<ActionModelAbstract*>& running_models,
                                  ActionModelAbstract* const terminal_model)
     : terminal_model_(terminal_model),
       running_models_(running_models),
@@ -66,7 +65,7 @@ double ShootingProblem::calcDiff(const std::vector<Eigen::VectorXd>& xs, const s
   for (unsigned int i = 0; i < T_; ++i) {
     cost_ += running_datas_[i]->cost;
   }
-  
+
   terminal_model_->calcDiff(terminal_data_, xs.back());
   cost_ += terminal_data_->cost;
   return cost_;