diff --git a/test/gtest_factor_compass_3d.cpp b/test/gtest_factor_compass_3d.cpp
index 4b3798b52af712da2fa77e485791085c8c71c638..3c9692955ef74226305dca7ffd766741494f590f 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -32,7 +32,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 int N_TESTS = 10;
 
diff --git a/test/gtest_factor_imu_2d.cpp b/test/gtest_factor_imu_2d.cpp
index 629df19d66f1e2cea4119ed3735c492265375de0..ce11155d4e8dff71343f06dd590a479c5c9688f2 100644
--- a/test/gtest_factor_imu_2d.cpp
+++ b/test/gtest_factor_imu_2d.cpp
@@ -30,8 +30,8 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
-int         N_TESTS         = 10;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
+int         N_TESTS = 10;
 
 class FactorImu2d_test : public testing::Test
 {
diff --git a/test/gtest_factor_imu_2d_with_gravity.cpp b/test/gtest_factor_imu_2d_with_gravity.cpp
index f3a3f718261cd1cb13b78ff047e9532f706dfc99..e38a75dc0a2b00b7b8d0241ca5c4406cfd2311d4 100644
--- a/test/gtest_factor_imu_2d_with_gravity.cpp
+++ b/test/gtest_factor_imu_2d_with_gravity.cpp
@@ -30,8 +30,8 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
-int         N_TESTS         = 10;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
+int         N_TESTS = 10;
 
 class FactorImu2dWithGravityTest : public testing::Test
 {
diff --git a/test/gtest_factor_imu_3d.cpp b/test/gtest_factor_imu_3d.cpp
index 3b9cc73f1e09b6f5620c3d5ad0525c38a9ee2878..e834b96f85a2e6ebace9874c0dcde365df699145 100644
--- a/test/gtest_factor_imu_3d.cpp
+++ b/test/gtest_factor_imu_3d.cpp
@@ -74,7 +74,7 @@ class FactorImu_biasTest_Static_NullBias : public testing::Test
         problem = Problem::create(3);
 
         // SOLVER
-        solver  = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // IMU SENSOR & PROCESSOR
         sensor_imu = static_pointer_cast<SensorImu>(
diff --git a/test/gtest_feature_imu_3d.cpp b/test/gtest_feature_imu_3d.cpp
index 58404488aaa72dbef73008071e7fc97160fcefc8..cc91bdfff756f958b28b0a335b6f6a8b96ed8d01 100644
--- a/test/gtest_feature_imu_3d.cpp
+++ b/test/gtest_feature_imu_3d.cpp
@@ -35,7 +35,7 @@ using namespace Eigen;
 using std::make_shared;
 using std::static_pointer_cast;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class FeatureImu3d_test : public testing::Test
 {
diff --git a/test/gtest_imu_2d_static_init.cpp b/test/gtest_imu_2d_static_init.cpp
index c650c7687b6d861089314059c6bf206f278fde81..8d4ba06f2536f507672deaca72db61e78cfe1f04 100644
--- a/test/gtest_imu_2d_static_init.cpp
+++ b/test/gtest_imu_2d_static_init.cpp
@@ -34,7 +34,7 @@ using namespace Eigen;
 using namespace wolf;
 using std::make_shared;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -78,7 +78,7 @@ class ProcessorImu2dStaticInitTest : public testing::Test
         first_frame_ = nullptr;
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Set the origin
         KF0_ = problem_->applyFirstFrameOptions(t0);
diff --git a/test/gtest_imu_3d.cpp b/test/gtest_imu_3d.cpp
index 83435133081cb0605747b14183fee3f74306f45d..346a2a9395f028e6fae8995797ab75159f485340 100644
--- a/test/gtest_imu_3d.cpp
+++ b/test/gtest_imu_3d.cpp
@@ -32,7 +32,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class Process_Factor_Imu : public testing::Test
 {
@@ -117,7 +117,7 @@ class Process_Factor_Imu : public testing::Test
         processor_imu = std::static_pointer_cast<ProcessorImu3d>(sensor_imu->getProcessorList().front());
 
         // SOLVER
-        solver  = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver = SolverManager::autoSetup(problem, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Time
         t0 = 0;
diff --git a/test/gtest_imu_3d_mocap_fusion.cpp b/test/gtest_imu_3d_mocap_fusion.cpp
index c08bb70b146d35bdd9b3adcbb149f5199b88c4d9..2536f5add29fae6b3582a7dae2a503910e6c9955 100644
--- a/test/gtest_imu_3d_mocap_fusion.cpp
+++ b/test/gtest_imu_3d_mocap_fusion.cpp
@@ -43,7 +43,7 @@ using namespace wolf;
 
 const double dt = 0.001;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -108,7 +108,7 @@ class ImuMocapFusion_Test : public testing::Test
         Matrix6d cov_imu  = sensor_imu_->computeNoiseCov(VectorXd(0));
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // first frame
         FrameBasePtr KF1      = problem_->applyFirstFrameOptions(0);
diff --git a/test/gtest_imu_3d_static_init.cpp b/test/gtest_imu_3d_static_init.cpp
index b668948cd9b51184078693ee670fef6e60f6945d..6345eb8e70bd09c45b40aa7e4a33139bfc7342e5 100644
--- a/test/gtest_imu_3d_static_init.cpp
+++ b/test/gtest_imu_3d_static_init.cpp
@@ -34,7 +34,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 /**
  *  SET TO TRUE  TO PRODUCE CSV FILE
@@ -78,7 +78,7 @@ class ProcessorImuStaticInitTest : public testing::Test
         first_frame_ = nullptr;
 
         // Create the solver
-        solver_  = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
+        solver_ = SolverManager::autoSetup(problem_, imu_dir + "/test/yaml/solver_ceres.yaml", {});
 
         // Set the origin
         KF0_ = problem_->applyFirstFrameOptions(t0);
diff --git a/test/gtest_load_imu.cpp b/test/gtest_load_imu.cpp
index 5831b1e7dd21084405c60d7489771a1d381e1de3..f9aa155881f7d00c8da4818156166e8013f34de9 100644
--- a/test/gtest_load_imu.cpp
+++ b/test/gtest_load_imu.cpp
@@ -26,7 +26,7 @@ using namespace wolf;
 
 // NOTE: This test and 'gtest_no_load_imu' complements each other
 // In this test we load 'imu' and 'core' should be automatically loaded.
-// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode: 
+// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode:
 // "SensorOdom2d" for 'core'
 // "SensorImu2d" for 'imu'
 WOLF_LOAD_IMU;
diff --git a/test/gtest_no_load_imu.cpp b/test/gtest_no_load_imu.cpp
index 12332efdaafbad15d3ee86bec3842bec3f68c22b..4903a9c6818179e159115daec03bbbbaaba75950 100644
--- a/test/gtest_no_load_imu.cpp
+++ b/test/gtest_no_load_imu.cpp
@@ -26,7 +26,7 @@ using namespace wolf;
 
 // NOTE: This test and 'gtest_load_imu' complements each other
 // In this test we load 'core' but not 'imu'
-// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode: 
+// To check if a plugin was loaded, we check the registering of a sensor to the FactorySensorNode:
 // "SensorOdom2d" for 'core'
 // "SensorImu2d" for 'imu'
 WOLF_LOAD_CORE;
diff --git a/test/gtest_processor_imu_2d.cpp b/test/gtest_processor_imu_2d.cpp
index 85c8070ef50f85c8f21a2393019b19faddbff343..bd77701908856740374441b842d8979c13705a77 100644
--- a/test/gtest_processor_imu_2d.cpp
+++ b/test/gtest_processor_imu_2d.cpp
@@ -33,7 +33,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu2dTest : public testing::Test
 {
@@ -80,8 +80,8 @@ class ProcessorImu2dTest : public testing::Test
 TEST(ProcessorImu2d_factory, ALL)
 {
     // install
-    auto problem  = Problem::create(2);
-    auto sensor   = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_2d.yaml", {imu_dir});
+    auto problem       = Problem::create(2);
+    auto sensor        = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_2d.yaml", {imu_dir});
     auto processor_ptr = problem->installProcessor(sensor, imu_dir + "/test/yaml/processor_imu_2d.yaml", {imu_dir});
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu2d>(processor_ptr)->getMaxTimeSpan(), 2.0);
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu2d>(processor_ptr)->getMaxBuffLength(), 20000);
diff --git a/test/gtest_processor_imu_2d_with_gravity.cpp b/test/gtest_processor_imu_2d_with_gravity.cpp
index 2011e1ca39bc5f539b586d2ef6d77bd56490d47a..82286efbebe9b62c9d5e25060bde27a33f3a2c67 100644
--- a/test/gtest_processor_imu_2d_with_gravity.cpp
+++ b/test/gtest_processor_imu_2d_with_gravity.cpp
@@ -35,7 +35,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu2dTest : public testing::Test
 {
diff --git a/test/gtest_processor_imu_3d.cpp b/test/gtest_processor_imu_3d.cpp
index fe2585abcaaf40ee56e84a99568792adb92b4e0d..07edca5f0aea9a0adbd3367896b9c3629b7d6a69 100644
--- a/test/gtest_processor_imu_3d.cpp
+++ b/test/gtest_processor_imu_3d.cpp
@@ -33,7 +33,7 @@
 using namespace Eigen;
 using namespace wolf;
 
-std::string imu_dir         = _WOLF_IMU_CODE_DIR;
+std::string imu_dir = _WOLF_IMU_CODE_DIR;
 
 class ProcessorImu3dTest : public testing::Test
 {
@@ -70,8 +70,8 @@ class ProcessorImu3dTest : public testing::Test
 TEST(ProcessorImu3d_factory, ALL)
 {
     // install
-    auto problem  = Problem::create(3);
-    auto sensor   = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_3d.yaml", {imu_dir});
+    auto problem       = Problem::create(3);
+    auto sensor        = problem->installSensor(imu_dir + "/test/yaml/sensor_imu_3d.yaml", {imu_dir});
     auto processor_ptr = problem->installProcessor(sensor, imu_dir + "/test/yaml/processor_imu_3d.yaml", {imu_dir});
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu3d>(processor_ptr)->getMaxTimeSpan(), 2.0);
     ASSERT_EQ(std::static_pointer_cast<ProcessorImu3d>(processor_ptr)->getMaxBuffLength(), 20000);
diff --git a/test/gtest_processor_imu_3d_jacobians.cpp b/test/gtest_processor_imu_3d_jacobians.cpp
index 4a2f4e9c1a86bd4a8975f9218a2b1dc815c9e765..21ced7ef88519d66c6a6b54a855f529df93f3648 100644
--- a/test/gtest_processor_imu_3d_jacobians.cpp
+++ b/test/gtest_processor_imu_3d_jacobians.cpp
@@ -56,7 +56,7 @@ class ProcessorImu3dJacobians : public testing::Test
     struct Imu_jac_bias          bias_jac;
     struct Imu_jac_deltas        deltas_jac;
 
-    void remapJacDeltas_quat0(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat0(Imu_jac_deltas &                _jac_delta,
                               Eigen::Map<Eigen::Quaterniond> &_Dq0,
                               Eigen::Map<Eigen::Quaterniond> &_dq0)
     {
@@ -64,10 +64,10 @@ class ProcessorImu3dJacobians : public testing::Test
         new (&_dq0) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.delta0_.data() + 3);
     }
 
-    void remapJacDeltas_quat(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat(Imu_jac_deltas &                _jac_delta,
                              Eigen::Map<Eigen::Quaterniond> &_Dq,
                              Eigen::Map<Eigen::Quaterniond> &_dq,
-                             const int                      &place)
+                             const int &                     place)
     {
         assert(place < _jac_delta.Delta_noisy_vect_.size());
         new (&_Dq) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.Delta_noisy_vect_(place).data() + 3);
@@ -129,7 +129,7 @@ class ProcessorImu3dJacobians_Dq : public testing::Test
     double                       dt;
     struct Imu_jac_bias          bias_jac2;
 
-    void remapJacDeltas_quat0(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat0(Imu_jac_deltas &                _jac_delta,
                               Eigen::Map<Eigen::Quaterniond> &_Dq0,
                               Eigen::Map<Eigen::Quaterniond> &_dq0)
     {
@@ -137,10 +137,10 @@ class ProcessorImu3dJacobians_Dq : public testing::Test
         new (&_dq0) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.delta0_.data() + 3);
     }
 
-    void remapJacDeltas_quat(Imu_jac_deltas                 &_jac_delta,
+    void remapJacDeltas_quat(Imu_jac_deltas &                _jac_delta,
                              Eigen::Map<Eigen::Quaterniond> &_Dq,
                              Eigen::Map<Eigen::Quaterniond> &_dq,
-                             const int                      &place)
+                             const int &                     place)
     {
         assert(place < _jac_delta.Delta_noisy_vect_.size());
         new (&_Dq) Eigen::Map<const Eigen::Quaterniond>(_jac_delta.Delta_noisy_vect_(place).data() + 3);