diff --git a/include/core/factor/factor_autodiff.h b/include/core/factor/factor_autodiff.h
index 6b2b1d2be2cfe75c326e342fcbaa367a7ef29afe..f3991813d2a1bd9ab8884261a833bf475302dac1 100644
--- a/include/core/factor/factor_autodiff.h
+++ b/include/core/factor/factor_autodiff.h
@@ -1657,8 +1657,15 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, B7, 0, 0, 0, 0, 0, 0
         // only residuals
         if (jacobians == nullptr)
         {
-            return (*static_cast<FacT const*>(this))(
-                params[0], params[1], params[2], params[3], params[4], params[5], params[6], params[7], residuals);
+            return (*static_cast<FacT const*>(this))(params[0],
+                                                     params[1],
+                                                     params[2],
+                                                     params[3],
+                                                     params[4],
+                                                     params[5],
+                                                     params[6],
+                                                     params[7],
+                                                     residuals);
         }
         // also compute jacobians
         else
@@ -1836,8 +1843,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, B6, 0, 0, 0, 0, 0, 0, 0,
         // only residuals
         if (jacobians == nullptr)
         {
-            return (*static_cast<FacT const*>(this))(
-                params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals);
+            return (*static_cast<FacT const*>(
+                this))(params[0], params[1], params[2], params[3], params[4], params[5], params[6], residuals);
         }
         // also compute jacobians
         else
@@ -2009,8 +2016,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, B5, 0, 0, 0, 0, 0, 0, 0, 0,
         // only residuals
         if (jacobians == nullptr)
         {
-            return (*static_cast<FacT const*>(this))(
-                params[0], params[1], params[2], params[3], params[4], params[5], residuals);
+            return (*static_cast<FacT const*>(
+                this))(params[0], params[1], params[2], params[3], params[4], params[5], residuals);
         }
         // also compute jacobians
         else
@@ -2232,8 +2239,12 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, B4, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
         updateJetsRealPart(_states_ptr);
 
         // call functor
-        bool res = (*static_cast<FacT const*>(this))(
-            jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), jets_4_.data(), residuals_jets_.data());
+        bool res = (*static_cast<FacT const*>(this))(jets_0_.data(),
+                                                     jets_1_.data(),
+                                                     jets_2_.data(),
+                                                     jets_3_.data(),
+                                                     jets_4_.data(),
+                                                     residuals_jets_.data());
         if (not res) return false;
 
         // fill the residual vector
@@ -2338,8 +2349,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
             updateJetsRealPart(param_vec);
 
             // call functor
-            bool res = (*static_cast<FacT const*>(this))(
-                jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
+            bool res = (*static_cast<FacT const*>(
+                this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
             if (not res) return false;
 
             // fill the residual array
@@ -2378,8 +2389,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, B3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
         updateJetsRealPart(_states_ptr);
 
         // call functor
-        bool res = (*static_cast<FacT const*>(this))(
-            jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
+        bool res = (*static_cast<FacT const*>(
+            this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), jets_3_.data(), residuals_jets_.data());
         if (not res) return false;
 
         // fill the residual vector
@@ -2482,8 +2493,8 @@ class FactorAutodiff<FacT, RES, B0, B1, B2, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0>
             updateJetsRealPart(param_vec);
 
             // call functor
-            bool res = (*static_cast<FacT const*>(this))(
-                jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data());
+            bool res = (*static_cast<FacT const*>(
+                this))(jets_0_.data(), jets_1_.data(), jets_2_.data(), residuals_jets_.data());
             if (not res) return false;
 
             // fill the residual array
diff --git a/src/factor/factor_analytic.cpp b/src/factor/factor_analytic.cpp
index 77cca6cb1aac0545129638fd3172f9998f9f484f..569d4cf37dbe35ab946eef579e1b3ff37389ea95 100644
--- a/src/factor/factor_analytic.cpp
+++ b/src/factor/factor_analytic.cpp
@@ -92,7 +92,7 @@ bool FactorAnalytic::evaluate(const std::vector<const double*>& _states_ptr,
     // compute jacobians
     jacobians_.resize(state_block_sizes_.size());
     evaluateJacobians(state_blocks_map_, jacobians_, std::vector<bool>(state_block_sizes_.size(), true));
-    
+
     return true;
 };