diff --git a/include/core/processor/processor_base.h b/include/core/processor/processor_base.h
index 8bd73f046e2533d287e2a85115e152e73de6ca83..eb4111ed335c33a28fa05502bf6f6d859e5b473e 100644
--- a/include/core/processor/processor_base.h
+++ b/include/core/processor/processor_base.h
@@ -245,7 +245,7 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
     static unsigned int processor_id_count_;
 
     // CHECKING captures period and time_tolerance
-    double capture_period_max_, capture_period_min_, capture_period_mean_;
+    double    capture_period_max_, capture_period_min_, capture_period_mean_;
     TimeStamp prev_capture_stamp_;
 
   public:
@@ -279,7 +279,6 @@ class ProcessorBase : public NodeBase, public std::enable_shared_from_this<Proce
 
     unsigned int id() const;
 
-
   protected:
     /** \brief process an incoming capture
      *
diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 155085b2f8bb12c9e125f29d2f96c968cf02509d..fdd28a5f431d0abba4c5a9b04490a78ab0e18606 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -127,7 +127,7 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
     ProcessingStep processing_step_;  ///< State machine controlling the processing step
     bool           bootstrapping_;    ///< processor is bootstrapping
 
-                                      // This is the main public interface
+    // This is the main public interface
   public:
     ProcessorMotion(const std::string& _type,
                     TypeComposite      _state_types,
@@ -522,7 +522,7 @@ class ProcessorMotion : public ProcessorBase, public MotionProvider
     mutable Eigen::MatrixXd jacobian_calib_;         ///< jacobian of delta preintegration wrt calibration params
     mutable Eigen::MatrixXd jacobian_delta_calib_;   ///< jacobian of delta wrt calib params
 
-    Eigen::MatrixXd unmeasured_perturbation_cov_;    ///< Covariance of unmeasured DoF to avoid singularity
+    Eigen::MatrixXd unmeasured_perturbation_cov_;  ///< Covariance of unmeasured DoF to avoid singularity
 };
 
 }  // namespace wolf
@@ -579,8 +579,8 @@ inline MotionBuffer& ProcessorMotion::getBuffer()
 inline Motion ProcessorMotion::motionZero(const TimeStamp& _ts) const
 {
     return Motion(_ts,
-                  VectorXd::Zero(data_size_),                               // data
-                  Eigen::MatrixXd::Zero(data_size_, data_size_),            // Cov data
+                  VectorXd::Zero(data_size_),                     // data
+                  Eigen::MatrixXd::Zero(data_size_, data_size_),  // Cov data
                   deltaZero(),
                   Eigen::MatrixXd::Zero(delta_cov_size_, delta_cov_size_),  // Cov delta
                   deltaZero(),
diff --git a/src/composite/vector_composite.cpp b/src/composite/vector_composite.cpp
index 0a9789452ff859ebf991275d109114b7e560297d..d6c33f5d91ead114c1942bf1008f3cebf26d8830 100644
--- a/src/composite/vector_composite.cpp
+++ b/src/composite/vector_composite.cpp
@@ -84,8 +84,8 @@ VectorComposite VectorComposite::operator()(const std::string& _keys) const
 {
     if (not this->has(_keys))
     {
-        throw std::runtime_error("VectorComposite::operator() required keys " + _keys + " are not available, only have " +
-                                 getKeys());
+        throw std::runtime_error("VectorComposite::operator() required keys " + _keys +
+                                 " are not available, only have " + getKeys());
     }
 
     VectorComposite output;
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index ff7ea2052b055e8ceeb38502b4d8f9f6442bec89..68b8813d0e6ba68692da83889de6ef9dd9bf4bb3 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -345,7 +345,7 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
                 // will be emplaced
                 capture_existing->getFeatureList().back()->remove();  // factor is removed automatically
 
-                assert(capture_existing->getFeatureList().empty());   // there was only one feature!
+                assert(capture_existing->getFeatureList().empty());  // there was only one feature!
 
                 emplaceFeaturesAndFactors(capture_for_keyframe_callback, capture_existing);
             }
diff --git a/test/gtest_processor_motion.cpp b/test/gtest_processor_motion.cpp
index ad245cf58afe5d46c3faf84095ce173f5af33dab..dbee90f57973145c104635e98a38b85888995814 100644
--- a/test/gtest_processor_motion.cpp
+++ b/test/gtest_processor_motion.cpp
@@ -524,6 +524,6 @@ TEST_F(ProcessorMotion_test, integrateOdometry)
 int main(int argc, char** argv)
 {
     testing::InitGoogleTest(&argc, argv);
-    //testing::GTEST_FLAG(filter) = "ProcessorMotion_test.getState_time_structure";
+    // testing::GTEST_FLAG(filter) = "ProcessorMotion_test.getState_time_structure";
     return RUN_ALL_TESTS();
 }