diff --git a/.clang-format b/.clang-format
index a1b3246..dd9aca7 100644
--- a/.clang-format
+++ b/.clang-format
@@ -45,6 +45,7 @@ PenaltyBreakString: 1000
 PenaltyExcessCharacter: 1000000
 PenaltyReturnTypeOnItsOwnLine: 200
 PointerAlignment: Right
+SortIncludes: false
 SpaceAfterCStyleCast: true
 SpaceBeforeAssignmentOperators: true
 SpaceBeforeParens: ControlStatements
diff --git a/.travis.yml b/.travis.yml
index 0b20bd0..8440064 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -17,7 +17,7 @@ _common_packages: &common_packages
   - libboost1.54-dev
   - libeigen3-dev
   - libgtest-dev
-  - clang-format-3.8
+  - clang-format-6.0
 
 jobs:
   include:
diff --git a/benchmarks/rotate_chain/imu_preint.cpp b/benchmarks/rotate_chain/imu_preint.cpp
index 8ad922a..6c8628d 100644
--- a/benchmarks/rotate_chain/imu_preint.cpp
+++ b/benchmarks/rotate_chain/imu_preint.cpp
@@ -44,7 +44,7 @@ BENCHMARK_F(Imu, waveTyped)(benchmark::State &state) {
               inverse(meas_Rij[i] * exp(wg[i])) * inverse(R_i[i]) * R_j[i];
             const auto &expr = log(expr1);
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] =
+            auto [r, J1, J2, J_phi_i, J_phi_j] =
               expr.evalWithJacobians(meas_Rij[i], wg[i], R_i[i], R_j[i]);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);
@@ -63,7 +63,7 @@ BENCHMARK_F(Imu, waveReverse)(benchmark::State &state) {
             const auto &expr = log(expr1);
 
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] =
+            auto [r, J1, J2, J_phi_i, J_phi_j] =
               wave::internal::evaluateWithReverseJacobians(expr);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);
@@ -81,7 +81,7 @@ BENCHMARK_F(Imu, waveUntyped)(benchmark::State &state) {
               inverse(meas_Rij[i] * exp(wg[i])) * inverse(R_i[i]) * R_j[i];
             const auto &expr = log(expr1);
 
-            auto[r, J1, J2, J_phi_i, J_phi_j] = wave::internal::evaluateWithJacobians(
+            auto [r, J1, J2, J_phi_i, J_phi_j] = wave::internal::evaluateWithJacobians(
               expr, meas_Rij[i], wg[i], R_i[i], R_j[i]);
             benchmark::DoNotOptimize(r);
             benchmark::DoNotOptimize(J1);
diff --git a/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp
index c8df0d0..d43c8a5 100644
--- a/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp
+++ b/benchmarks/rotate_chain/rotate_chain_wave_bench.cpp
@@ -47,7 +47,7 @@ class RotateChain : public benchmark::Fixture {
 BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians(R10[i], v10[i]);
+            auto [v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians(R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J10);
             benchmark::DoNotOptimize(Jv10);
@@ -59,7 +59,7 @@ BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] =
+            auto [v0, J9, J10, Jv10] =
               (R9[i] * R10[i] * v10[i]).evalWithJacobians(R9[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J9);
@@ -73,7 +73,7 @@ BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R8[i], R9[i], R10[i], v10[i]);
 
@@ -89,7 +89,7 @@ BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -106,7 +106,7 @@ BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -124,7 +124,7 @@ BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
             benchmark::DoNotOptimize(J5);
@@ -142,7 +142,7 @@ BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -162,7 +162,7 @@ BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R3[i], R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -183,7 +183,7 @@ BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians(
@@ -207,7 +207,7 @@ BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians(R1[i],
diff --git a/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp
index 29e4ec2..25d6bdd 100644
--- a/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp
+++ b/benchmarks/rotate_chain/rotate_chain_wave_dynamic_bench.cpp
@@ -18,7 +18,7 @@ void BM_waveAll(benchmark::State &state) {
     }
 
     for (auto _ : state) {
-        auto[res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
+        auto [res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
 
         benchmark::DoNotOptimize(res);
         benchmark::DoNotOptimize(jac_map);
@@ -36,7 +36,7 @@ void BM_dynamicNoVirtual(benchmark::State &state) {
         auto expr =
           R[0] * R[1] * R[2] * R[3] * R[4] * R[5] * R[6] * R[7] * R[8] * R[9] * v;
 
-        auto[res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
+        auto [res, jac_map] = wave::internal::evaluateWithDynamicReverseJacobians(expr);
 
         benchmark::DoNotOptimize(res);
         benchmark::DoNotOptimize(jac_map);
diff --git a/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp
index bf1ee68..e18049c 100644
--- a/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp
+++ b/benchmarks/rotate_chain/rotate_chain_wave_reverse_bench.cpp
@@ -47,7 +47,7 @@ class RotateChain : public benchmark::Fixture {
 BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians();
+            auto [v0, J10, Jv10] = (R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J10);
             benchmark::DoNotOptimize(Jv10);
@@ -59,7 +59,7 @@ BENCHMARK_F(RotateChain, wave1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] = (R9[i] * R10[i] * v10[i]).evalWithJacobians();
+            auto [v0, J9, J10, Jv10] = (R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J9);
             benchmark::DoNotOptimize(J10);
@@ -72,7 +72,7 @@ BENCHMARK_F(RotateChain, wave2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J8);
@@ -87,7 +87,7 @@ BENCHMARK_F(RotateChain, wave3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J7);
@@ -103,7 +103,7 @@ BENCHMARK_F(RotateChain, wave4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i]).evalWithJacobians();
 
             benchmark::DoNotOptimize(J6);
@@ -120,7 +120,7 @@ BENCHMARK_F(RotateChain, wave5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J5);
@@ -138,7 +138,7 @@ BENCHMARK_F(RotateChain, wave6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J4);
@@ -157,7 +157,7 @@ BENCHMARK_F(RotateChain, wave7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians();
             benchmark::DoNotOptimize(J3);
@@ -177,7 +177,7 @@ BENCHMARK_F(RotateChain, wave8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians();
@@ -200,7 +200,7 @@ BENCHMARK_F(RotateChain, wave9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, wave10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians();
diff --git a/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp b/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp
index b1d73f0..ef01a24 100644
--- a/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp
+++ b/benchmarks/rotate_chain/rotate_chain_wave_untyped_bench.cpp
@@ -28,7 +28,7 @@ BENCHMARK_F(RotateChain, waveUntyped1)(benchmark::State &state) {
         for (auto i = N; i-- > 0;) {
             // use internal::evaluateWithJacobians to force untyped evaluator despite
             // unique types
-            auto[v0, J10, Jv10] =
+            auto [v0, J10, Jv10] =
               wave::internal::evaluateWithJacobians(R10[i] * v10[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J10);
@@ -41,7 +41,7 @@ BENCHMARK_F(RotateChain, waveUntyped1)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped2)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J9, J10, Jv10] =
+            auto [v0, J9, J10, Jv10] =
               (R9[i] * R10[i] * v10[i]).evalWithJacobians(R9[i], R10[i], v10[i]);
 
             benchmark::DoNotOptimize(J9);
@@ -55,7 +55,7 @@ BENCHMARK_F(RotateChain, waveUntyped2)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped3)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J8, J9, J10, Jv10] =
+            auto [v0, J8, J9, J10, Jv10] =
               (R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R8[i], R9[i], R10[i], v10[i]);
 
@@ -71,7 +71,7 @@ BENCHMARK_F(RotateChain, waveUntyped3)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped4)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J7, J8, J9, J10, Jv10] =
+            auto [v0, J7, J8, J9, J10, Jv10] =
               (R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -88,7 +88,7 @@ BENCHMARK_F(RotateChain, waveUntyped4)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped5)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J6, J7, J8, J9, J10, Jv10] =
               (R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
 
@@ -106,7 +106,7 @@ BENCHMARK_F(RotateChain, waveUntyped5)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped6)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J5, J6, J7, J8, J9, J10, Jv10] =
               (R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
             benchmark::DoNotOptimize(J5);
@@ -124,7 +124,7 @@ BENCHMARK_F(RotateChain, waveUntyped6)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped7)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -144,7 +144,7 @@ BENCHMARK_F(RotateChain, waveUntyped7)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped8)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] * v10[i])
                 .evalWithJacobians(
                   R3[i], R4[i], R5[i], R6[i], R7[i], R8[i], R9[i], R10[i], v10[i]);
@@ -165,7 +165,7 @@ BENCHMARK_F(RotateChain, waveUntyped8)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped9)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] * R10[i] *
                v10[i])
                 .evalWithJacobians(
@@ -189,7 +189,7 @@ BENCHMARK_F(RotateChain, waveUntyped9)(benchmark::State &state) {
 BENCHMARK_F(RotateChain, waveUntyped10)(benchmark::State &state) {
     for (auto _ : state) {
         for (auto i = N; i-- > 0;) {
-            auto[v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
+            auto [v0, J1, J2, J3, J4, J5, J6, J7, J8, J9, J10, Jv10] =
               (R1[i] * R2[i] * R3[i] * R4[i] * R5[i] * R6[i] * R7[i] * R8[i] * R9[i] *
                R10[i] * v10[i])
                 .evalWithJacobians(R1[i],
diff --git a/include/wave/geometry/src/core/functions/AddConversions.hpp b/include/wave/geometry/src/core/functions/AddConversions.hpp
index fc910d1..7a9fe26 100644
--- a/include/wave/geometry/src/core/functions/AddConversions.hpp
+++ b/include/wave/geometry/src/core/functions/AddConversions.hpp
@@ -21,7 +21,8 @@ namespace internal {
  */
 template <typename Derived,
           typename Tag,
-          template <typename> class Rebind,
+          template <typename>
+          class Rebind,
           typename Rhs,
           typename... ConvertTo>
 struct first_directly_evaluable_conversion_unary;
@@ -33,9 +34,11 @@ struct first_directly_evaluable_conversion_unary;
  */
 template <typename Derived,
           typename Tag,
-          template <typename> class Rebind,
+          template <typename>
+          class Rebind,
           typename Rhs,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... ConvertTo>
 struct first_directly_evaluable_conversion_unary<Derived,
                                                  Tag,
@@ -49,8 +52,8 @@ struct first_directly_evaluable_conversion_unary<Derived,
 
     template <typename ToRhs>
     struct is_evaluable_after_conversion_test
-      : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
-                         is_directly_evaluable_unary<Tag, ToRhs>> {
+        : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
+                           is_directly_evaluable_unary<Tag, ToRhs>> {
         using type = Rebind<Convert<ToRhs, Rhs> &&>;
     };
 
@@ -83,7 +86,8 @@ struct first_directly_evaluable_conversion_unary<Derived,
  */
 template <typename Derived,
           typename Tag,
-          template <typename, typename> class Rebind,
+          template <typename, typename>
+          class Rebind,
           typename Lhs,
           typename Rhs,
           typename LhsConvertTo,
@@ -96,10 +100,12 @@ struct first_directly_evaluable_conversion_binary;
  */
 template <typename Derived,
           typename Tag,
-          template <typename, typename> class Rebind,
+          template <typename, typename>
+          class Rebind,
           typename Lhs,
           typename Rhs,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... LhsConvertTo,
           typename... RhsConvertTo>
 struct first_directly_evaluable_conversion_binary<Derived,
@@ -118,29 +124,29 @@ struct first_directly_evaluable_conversion_binary<Derived,
 
     // todo: factor out to short-circuit in this most common case
     struct is_evaluable_test
-      : is_directly_evaluable_binary<Tag, eval_t<Lhs>, eval_t<Rhs>> {
+        : is_directly_evaluable_binary<Tag, eval_t<Lhs>, eval_t<Rhs>> {
         using type = Derived;
     };
 
     template <typename ToLhs>
     struct convert_left_test
-      : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToLhs>, eval_t<Lhs>>,
-                         is_directly_evaluable_binary<Tag, ToLhs, eval_t<Rhs>>> {
+        : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToLhs>, eval_t<Lhs>>,
+                           is_directly_evaluable_binary<Tag, ToLhs, eval_t<Rhs>>> {
         using type = Rebind<Convert<ToLhs, Lhs> &&, Rhs>;
     };
 
     template <typename ToRhs>
     struct convert_right_test
-      : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
-                         is_directly_evaluable_binary<Tag, eval_t<Lhs>, ToRhs>> {
+        : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
+                           is_directly_evaluable_binary<Tag, eval_t<Lhs>, ToRhs>> {
         using type = Rebind<Lhs, Convert<ToRhs, Rhs> &&>;
     };
 
     template <typename ToLhs, typename ToRhs>
     struct convert_both_test
-      : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToLhs>, eval_t<Lhs>>,
-                         is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
-                         is_directly_evaluable_binary<Tag, ToLhs, ToRhs>> {
+        : tmp::conjunction<is_directly_evaluable_unary<expr<Convert, ToLhs>, eval_t<Lhs>>,
+                           is_directly_evaluable_unary<expr<Convert, ToRhs>, eval_t<Rhs>>,
+                           is_directly_evaluable_binary<Tag, ToLhs, ToRhs>> {
         using type = Rebind<Convert<ToLhs, Lhs> &&, Convert<ToRhs, Rhs> &&>;
     };
 
diff --git a/include/wave/geometry/src/core/functions/IsSameType.hpp b/include/wave/geometry/src/core/functions/IsSameType.hpp
index d721b70..86982fc 100644
--- a/include/wave/geometry/src/core/functions/IsSameType.hpp
+++ b/include/wave/geometry/src/core/functions/IsSameType.hpp
@@ -49,14 +49,14 @@ struct contains_same_type<A, B, enable_if_leaf_or_scalar_t<A>> : std::is_same<A,
 
 template <typename A, typename B>
 struct contains_same_type<A, B, enable_if_unary_t<A>>
-  : tmp::bool_constant<std::is_same<A, B>{} ||
-                       contains_same_type<typename traits<A>::RhsDerived, B>{}> {};
+    : tmp::bool_constant<std::is_same<A, B>{} ||
+                         contains_same_type<typename traits<A>::RhsDerived, B>{}> {};
 
 template <typename A, typename B>
 struct contains_same_type<A, B, enable_if_binary_t<A>>
-  : tmp::bool_constant<std::is_same<A, B>{} ||
-                       contains_same_type<typename traits<A>::LhsDerived, B>{} ||
-                       contains_same_type<typename traits<A>::RhsDerived, B>{}> {};
+    : tmp::bool_constant<std::is_same<A, B>{} ||
+                         contains_same_type<typename traits<A>::LhsDerived, B>{} ||
+                         contains_same_type<typename traits<A>::RhsDerived, B>{}> {};
 
 
 }  // namespace internal
diff --git a/include/wave/geometry/src/core/functions/NumericalJacobian.hpp b/include/wave/geometry/src/core/functions/NumericalJacobian.hpp
index 71ad06b..501a1f7 100644
--- a/include/wave/geometry/src/core/functions/NumericalJacobian.hpp
+++ b/include/wave/geometry/src/core/functions/NumericalJacobian.hpp
@@ -67,7 +67,7 @@ template <typename Derived, typename Enable = void>
 struct EvaluatorWithDelta;
 
 /**Specialization for leaf expression
-*/
+ */
 template <typename Derived>
 struct EvaluatorWithDelta<Derived, enable_if_leaf_t<Derived>> {
     using Scalar = scalar_t<Derived>;
diff --git a/include/wave/geometry/src/core/op/Convert.hpp b/include/wave/geometry/src/core/op/Convert.hpp
index ba539d8..a382513 100644
--- a/include/wave/geometry/src/core/op/Convert.hpp
+++ b/include/wave/geometry/src/core/op/Convert.hpp
@@ -22,7 +22,7 @@ namespace internal {
 
 template <typename ToDerived, typename FromDerived>
 struct traits<Convert<ToDerived, FromDerived>>
-  : unary_traits_base<Convert<ToDerived, FromDerived>> {
+    : unary_traits_base<Convert<ToDerived, FromDerived>> {
     using OutputFunctor = typename traits<FromDerived>::OutputFunctor;
 };
 
diff --git a/include/wave/geometry/src/core/storage/UnaryExpression.hpp b/include/wave/geometry/src/core/storage/UnaryExpression.hpp
index 606beb5..ec2b655 100644
--- a/include/wave/geometry/src/core/storage/UnaryExpression.hpp
+++ b/include/wave/geometry/src/core/storage/UnaryExpression.hpp
@@ -62,14 +62,14 @@ struct UnaryExpressionBase {
 // Inverse)
 template <template <typename> class Tmpl, typename RhsDerived>
 struct UnaryExpression<Tmpl<RhsDerived>>
-  : UnaryExpressionBase<Tmpl<RhsDerived>, RhsDerived> {
+    : UnaryExpressionBase<Tmpl<RhsDerived>, RhsDerived> {
     using UnaryExpressionBase<Tmpl<RhsDerived>, RhsDerived>::UnaryExpressionBase;
 };
 
 // Specialization for unary expression with an extra parameter (such as Convert)
 template <template <typename, typename> class Tmpl, typename Aux, typename RhsDerived>
 struct UnaryExpression<Tmpl<Aux, RhsDerived>>
-  : UnaryExpressionBase<Tmpl<Aux, RhsDerived>, RhsDerived> {
+    : UnaryExpressionBase<Tmpl<Aux, RhsDerived>, RhsDerived> {
     using UnaryExpressionBase<Tmpl<Aux, RhsDerived>, RhsDerived>::UnaryExpressionBase;
 };
 
diff --git a/include/wave/geometry/src/core/traits/traits_bases.hpp b/include/wave/geometry/src/core/traits/traits_bases.hpp
index 609a2b3..81ac31a 100644
--- a/include/wave/geometry/src/core/traits/traits_bases.hpp
+++ b/include/wave/geometry/src/core/traits/traits_bases.hpp
@@ -212,7 +212,7 @@ struct unary_traits_base_tag<Tmpl<Aux, RhsDerived_>, Tag_> {
 // Specialization for unary expression with an extra parameter (such as Convert)
 template <template <typename, typename> class Tmpl, typename Aux, typename RhsDerived_>
 struct unary_traits_base<Tmpl<Aux, RhsDerived_>>
-  : unary_traits_base_tag<Tmpl<Aux, RhsDerived_>, expr<Tmpl, Aux>> {};
+    : unary_traits_base_tag<Tmpl<Aux, RhsDerived_>, expr<Tmpl, Aux>> {};
 
 // Used so we can instantiate traits of non-evaluable types
 template <>
diff --git a/include/wave/geometry/src/core/traits/type_traits.hpp b/include/wave/geometry/src/core/traits/type_traits.hpp
index 9b84c9d..eb21d6a 100644
--- a/include/wave/geometry/src/core/traits/type_traits.hpp
+++ b/include/wave/geometry/src/core/traits/type_traits.hpp
@@ -155,7 +155,7 @@ using enable_if_scalar_t = typename std::enable_if<is_scalar<Derived>{}, T>::typ
 
 template <typename Derived>
 struct is_leaf_or_scalar
-  : tmp::bool_constant<is_leaf_expression<Derived>{} || is_scalar<Derived>{}> {};
+    : tmp::bool_constant<is_leaf_expression<Derived>{} || is_scalar<Derived>{}> {};
 
 template <typename Derived, typename T = void>
 using enable_if_leaf_or_scalar_t =
@@ -306,9 +306,9 @@ using traits_safe_t = typename traits_safe_impl<tmp::remove_cr_t<Target>,
 /** True if eval function defined for the given expression type and folded rhs */
 template <typename Tag, typename Rhs>
 struct is_directly_evaluable_unary
-  : tmp::negation<
-      std::is_same<decltype(impl::evalOrNotImplemented(Tag(), std::declval<Rhs>())),
-                   NotImplemented>> {};
+    : tmp::negation<
+        std::is_same<decltype(impl::evalOrNotImplemented(Tag(), std::declval<Rhs>())),
+                     NotImplemented>> {};
 
 template <typename Tag, typename FoldedLhs, typename FoldedRhs>
 using eval_t_binary =
@@ -317,9 +317,9 @@ using eval_t_binary =
 /** True if eval function defined for the given expression type and folded rhs */
 template <typename Tag, typename Lhs, typename Rhs>
 struct is_directly_evaluable_binary
-  : tmp::negation<std::is_same<decltype(impl::evalOrNotImplemented(
-                                 Tag(), std::declval<Lhs>(), std::declval<Rhs>())),
-                               NotImplemented>> {};
+    : tmp::negation<std::is_same<decltype(impl::evalOrNotImplemented(
+                                   Tag(), std::declval<Lhs>(), std::declval<Rhs>())),
+                                 NotImplemented>> {};
 
 // previous eval_type, needs a complete type
 // @todo clean up
@@ -373,11 +373,11 @@ struct has_unique_leaves_unary : unique_leaves_t<RhsDerived> {};
  */
 template <typename LhsDerived, typename RhsDerived>
 struct has_unique_leaves_binary
-  : std::conditional_t<unique_leaves_t<LhsDerived>::value &&
-                         unique_leaves_t<RhsDerived>::value,
-                       tmp::concat_if_unique<typename unique_leaves_t<LhsDerived>::type,
-                                             typename unique_leaves_t<RhsDerived>::type>,
-                       std::false_type> {};
+    : std::conditional_t<
+        unique_leaves_t<LhsDerived>::value && unique_leaves_t<RhsDerived>::value,
+        tmp::concat_if_unique<typename unique_leaves_t<LhsDerived>::type,
+                              typename unique_leaves_t<RhsDerived>::type>,
+        std::false_type> {};
 
 
 /** Use the derived class's BaseTmpl. For binary expressions, check that both match. */
diff --git a/include/wave/geometry/src/dynamic/Proxy.hpp b/include/wave/geometry/src/dynamic/Proxy.hpp
index 34122db..11440c7 100644
--- a/include/wave/geometry/src/dynamic/Proxy.hpp
+++ b/include/wave/geometry/src/dynamic/Proxy.hpp
@@ -121,9 +121,8 @@ struct DynamicJacobianEvaluator<Derived, enable_if_proxy_t<Derived>> {
 
     WAVE_STRONG_INLINE explicit DynamicJacobianEvaluator(const Evaluator<Derived> &v_eval,
                                                          const void *target)
-      // Dynamically get the Jacobian of the derived expression
-      : v_eval{v_eval},
-        target{target} {}
+        // Dynamically get the Jacobian of the derived expression
+        : v_eval{v_eval}, target{target} {}
 
     WAVE_STRONG_INLINE JacobianType jacobian() const {
         // Check if Jacobian is wrt this Proxy
@@ -144,7 +143,7 @@ struct JacobianEvaluator<
   Derived,
   Target,
   std::enable_if_t<is_proxy<Derived>{} && !std::is_same<Derived, Target>{}>>
-  : DynamicJacobianEvaluator<Derived> {
+    : DynamicJacobianEvaluator<Derived> {
     WAVE_STRONG_INLINE explicit JacobianEvaluator(const Evaluator<Derived> &v_eval,
                                                   const Target &target)
         : DynamicJacobianEvaluator<Derived>{v_eval, &target} {}
diff --git a/include/wave/geometry/src/geometry/base/RigidTransformBase.hpp b/include/wave/geometry/src/geometry/base/RigidTransformBase.hpp
index 09bb1ab..37cb0e8 100644
--- a/include/wave/geometry/src/geometry/base/RigidTransformBase.hpp
+++ b/include/wave/geometry/src/geometry/base/RigidTransformBase.hpp
@@ -197,7 +197,7 @@ auto jacobianImpl(expr<LogMap>,
 template <typename Leaf, typename LeftFrame, typename RightFrame>
 struct FramedLeafAccess<Framed<Leaf, LeftFrame, RightFrame>,
                         TICK_CLASS_REQUIRES(internal::is_rt_leaf<Leaf>{})>
-  : FramedLeafAccessBase<Framed<Leaf, LeftFrame, RightFrame>> {
+    : FramedLeafAccessBase<Framed<Leaf, LeftFrame, RightFrame>> {
     using RotationType = decltype(std::declval<Leaf>().rotation());
     using ConstRotationType = decltype(std::declval<const Leaf>().rotation());
     using TranslationType = decltype(std::declval<Leaf>().translation());
@@ -205,13 +205,13 @@ struct FramedLeafAccess<Framed<Leaf, LeftFrame, RightFrame>,
 
  public:
     /** Returns a mutable expression referring to the translation portion of this
-    * transform */
+     * transform */
     decltype(auto) rotation() & {
         return internal::WrapWithFrames<LeftFrame, RightFrame>{}(this->leaf().rotation());
     }
 
     /** Returns a mutable expression referring to the translation portion of this
-    * transform */
+     * transform */
     decltype(auto) rotation() && noexcept {
         return internal::WrapWithFrames<LeftFrame, RightFrame>{}(this->leaf().rotation());
     }
diff --git a/include/wave/geometry/src/geometry/base/ScalarBase.hpp b/include/wave/geometry/src/geometry/base/ScalarBase.hpp
index ad89c06..a1940cf 100644
--- a/include/wave/geometry/src/geometry/base/ScalarBase.hpp
+++ b/include/wave/geometry/src/geometry/base/ScalarBase.hpp
@@ -65,7 +65,7 @@ struct scalar_traits_base : leaf_traits_base<T>, frameable_vector_traits {
 template <typename T>
 struct traits<T,
               std::enable_if_t<std::is_arithmetic<T>::value && !std::is_const<T>::value>>
-  : scalar_traits_base<T> {};
+    : scalar_traits_base<T> {};
 
 /** Helper to produce a scalar wrapping the input type */
 template <typename Arg>
diff --git a/include/wave/geometry/src/geometry/frames/Framed.hpp b/include/wave/geometry/src/geometry/frames/Framed.hpp
index d91925b..1667f05 100644
--- a/include/wave/geometry/src/geometry/frames/Framed.hpp
+++ b/include/wave/geometry/src/geometry/frames/Framed.hpp
@@ -57,8 +57,8 @@ class Framed : public internal::base_tmpl_t<WrappedLeaf, Framed<WrappedLeaf, Fra
       typename OtherDerived,
       TICK_REQUIRES(WeHaveFrames and internal::same_frames<Framed, OtherDerived>{})>
     Framed(const ExpressionBase<OtherDerived> &other)
-      // Evaluate to Framed and delegate to our copy or move constructor
-      : Framed{wave::internal::evaluateTo<Framed>(other.derived())} {}
+        // Evaluate to Framed and delegate to our copy or move constructor
+        : Framed{wave::internal::evaluateTo<Framed>(other.derived())} {}
 
     /** Construct from an expression in the special case we have all NoFrame*/
     // The above constructor won't work in this case since evaluateTo will return an
@@ -67,8 +67,8 @@ class Framed : public internal::base_tmpl_t<WrappedLeaf, Framed<WrappedLeaf, Fra
               TICK_REQUIRES(!WeHaveFrames and
                             internal::same_frames<Framed, OtherDerived>{})>
     Framed(const ExpressionBase<OtherDerived> &other)
-      // Evaluate to Framed and delegate to our copy or move constructor
-      : wrapped_leaf{wave::internal::evaluateTo<WrappedLeaf>(other.derived())} {}
+        // Evaluate to Framed and delegate to our copy or move constructor
+        : wrapped_leaf{wave::internal::evaluateTo<WrappedLeaf>(other.derived())} {}
 
     // Forward args to rhs (version for one argument)
     // Disable if copy ctor would apply - https://stackoverflow.com/a/39646176
@@ -196,7 +196,7 @@ struct FramedLeafAccess : FramedLeafAccessBase<Derived> {};
 // Traits for Framed with two frames
 template <typename WrappedLeaf, typename LeftFrame_, typename RightFrame_>
 struct traits<Framed<WrappedLeaf, LeftFrame_, RightFrame_>>
-  : frames_traits_base<WrappedLeaf, LeftFrame_, RightFrame_> {
+    : frames_traits_base<WrappedLeaf, LeftFrame_, RightFrame_> {
     using LeftFrame = LeftFrame_;
     using RightFrame = RightFrame_;
 };
@@ -207,7 +207,7 @@ template <typename WrappedLeaf,
           typename MiddleFrame_,
           typename RightFrame_>
 struct traits<Framed<WrappedLeaf, LeftFrame_, MiddleFrame_, RightFrame_>>
-  : frames_traits_base<WrappedLeaf, LeftFrame_, MiddleFrame_, RightFrame_> {
+    : frames_traits_base<WrappedLeaf, LeftFrame_, MiddleFrame_, RightFrame_> {
     using LeftFrame = LeftFrame_;
     using MiddleFrame = MiddleFrame_;
     using RightFrame = RightFrame_;
diff --git a/include/wave/geometry/src/geometry/frames/frame_cast.hpp b/include/wave/geometry/src/geometry/frames/frame_cast.hpp
index 491b2c9..64d258e 100644
--- a/include/wave/geometry/src/geometry/frames/frame_cast.hpp
+++ b/include/wave/geometry/src/geometry/frames/frame_cast.hpp
@@ -30,8 +30,8 @@ struct FrameCast<F1, F2, Rhs> : internal::base_tmpl_t<Rhs, FrameCast<F1, F2, Rhs
 
 template <typename F1, typename F2, typename F3, typename Rhs>
 struct FrameCast<F1, F2, F3, Rhs>
-  : internal::base_tmpl_t<Rhs, FrameCast<F1, F2, F3, Rhs>>,
-    UnaryExpressionBase<FrameCast<F1, F2, F3, Rhs>, Rhs> {
+    : internal::base_tmpl_t<Rhs, FrameCast<F1, F2, F3, Rhs>>,
+      UnaryExpressionBase<FrameCast<F1, F2, F3, Rhs>, Rhs> {
  private:
     using Storage = UnaryExpressionBase<FrameCast<F1, F2, F3, Rhs>, Rhs>;
 
@@ -41,10 +41,10 @@ struct FrameCast<F1, F2, F3, Rhs>
 
 
 /**
-* Forcibly changes the frame descriptors of an existing vector expression.
-*
-* @tparam F1, F2, F3 the new frame descriptors
-*/
+ * Forcibly changes the frame descriptors of an existing vector expression.
+ *
+ * @tparam F1, F2, F3 the new frame descriptors
+ */
 template <typename F1, typename F2, typename F3, typename Rhs>
 auto frame_cast(const ExpressionBase<Rhs> &rhs) -> TICK_FUNCTION_REQUIRES(
   internal::has_three_decorators<Rhs>{})(FrameCast<F1, F2, F3, Rhs>) {
@@ -52,10 +52,10 @@ auto frame_cast(const ExpressionBase<Rhs> &rhs) -> TICK_FUNCTION_REQUIRES(
 }
 
 /**
-* Forcibly changes the frame descriptors of an existing vector expression.
-*
-* @tparam F1, F2, F3 the new frame descriptors
-*/
+ * Forcibly changes the frame descriptors of an existing vector expression.
+ *
+ * @tparam F1, F2, F3 the new frame descriptors
+ */
 template <typename F1, typename F2, typename F3, typename Rhs>
 auto frame_cast(ExpressionBase<Rhs> &&rhs) -> TICK_FUNCTION_REQUIRES(
   internal::has_three_decorators<Rhs>{})(FrameCast<F1, F2, F3, Rhs &&>) {
@@ -63,10 +63,10 @@ auto frame_cast(ExpressionBase<Rhs> &&rhs) -> TICK_FUNCTION_REQUIRES(
 }
 
 /**
-* Forcibly changes the frame descriptors of an existing transform expression.
-*
-* @tparam F1, F2 the new frame descriptors
-*/
+ * Forcibly changes the frame descriptors of an existing transform expression.
+ *
+ * @tparam F1, F2 the new frame descriptors
+ */
 template <typename F1, typename F2, typename Rhs>
 auto frame_cast(const ExpressionBase<Rhs> &rhs)
   -> TICK_FUNCTION_REQUIRES(internal::has_two_decorators<Rhs>{})(FrameCast<F1, F2, Rhs>) {
@@ -74,10 +74,10 @@ auto frame_cast(const ExpressionBase<Rhs> &rhs)
 }
 
 /**
-* Forcibly changes the frame descriptors of an existing transform expression.
-*
-* @tparam F1, F2 the new frame descriptors
-*/
+ * Forcibly changes the frame descriptors of an existing transform expression.
+ *
+ * @tparam F1, F2 the new frame descriptors
+ */
 template <typename F1, typename F2, typename Rhs>
 auto frame_cast(ExpressionBase<Rhs> &&rhs) -> TICK_FUNCTION_REQUIRES(
   internal::has_two_decorators<Rhs>{})(FrameCast<F1, F2, Rhs &&>) {
diff --git a/include/wave/geometry/src/geometry/frames/frame_traits.hpp b/include/wave/geometry/src/geometry/frames/frame_traits.hpp
index 1200c45..4b58c37 100644
--- a/include/wave/geometry/src/geometry/frames/frame_traits.hpp
+++ b/include/wave/geometry/src/geometry/frames/frame_traits.hpp
@@ -50,24 +50,24 @@ struct same_frames<
   Lhs,
   Rhs,
   std::enable_if_t<has_three_decorators<Lhs>{} && has_three_decorators<Rhs>{}>>
-  : std::integral_constant<bool,
-                           std::is_same<typename eval_traits<Lhs>::LeftFrame,
-                                        typename eval_traits<Rhs>::LeftFrame>{} &&
-                             std::is_same<typename eval_traits<Lhs>::MiddleFrame,
-                                          typename eval_traits<Rhs>::MiddleFrame>{} &&
-                             std::is_same<typename eval_traits<Lhs>::RightFrame,
-                                          typename eval_traits<Rhs>::RightFrame>{}> {};
+    : std::integral_constant<bool,
+                             std::is_same<typename eval_traits<Lhs>::LeftFrame,
+                                          typename eval_traits<Rhs>::LeftFrame>{} &&
+                               std::is_same<typename eval_traits<Lhs>::MiddleFrame,
+                                            typename eval_traits<Rhs>::MiddleFrame>{} &&
+                               std::is_same<typename eval_traits<Lhs>::RightFrame,
+                                            typename eval_traits<Rhs>::RightFrame>{}> {};
 
 template <typename Lhs, typename Rhs>
 struct same_frames<
   Lhs,
   Rhs,
   std::enable_if_t<has_two_decorators<Lhs>{} && has_two_decorators<Rhs>{}>>
-  : std::integral_constant<bool,
-                           std::is_same<typename eval_traits<Lhs>::LeftFrame,
-                                        typename eval_traits<Rhs>::LeftFrame>{} &&
-                             std::is_same<typename eval_traits<Lhs>::RightFrame,
-                                          typename eval_traits<Rhs>::RightFrame>{}> {};
+    : std::integral_constant<bool,
+                             std::is_same<typename eval_traits<Lhs>::LeftFrame,
+                                          typename eval_traits<Rhs>::LeftFrame>{} &&
+                               std::is_same<typename eval_traits<Lhs>::RightFrame,
+                                            typename eval_traits<Rhs>::RightFrame>{}> {};
 
 
 template <typename...>
@@ -89,14 +89,14 @@ struct is_unframed : std::false_type {};
 
 template <typename Derived>
 struct is_unframed<Derived, std::enable_if_t<has_two_decorators<Derived>{}>>
-  : is_unframed_impl<typename eval_traits<Derived>::LeftFrame,
-                     typename eval_traits<Derived>::RightFrame> {};
+    : is_unframed_impl<typename eval_traits<Derived>::LeftFrame,
+                       typename eval_traits<Derived>::RightFrame> {};
 
 template <typename Derived>
 struct is_unframed<Derived, std::enable_if_t<has_three_decorators<Derived>{}>>
-  : is_unframed_impl<typename eval_traits<Derived>::LeftFrame,
-                     typename eval_traits<Derived>::MiddleFrame,
-                     typename eval_traits<Derived>::RightFrame> {};
+    : is_unframed_impl<typename eval_traits<Derived>::LeftFrame,
+                       typename eval_traits<Derived>::MiddleFrame,
+                       typename eval_traits<Derived>::RightFrame> {};
 
 
 template <typename... Frames>
diff --git a/include/wave/geometry/src/geometry/leaf/AngleAxisRotation.hpp b/include/wave/geometry/src/geometry/leaf/AngleAxisRotation.hpp
index ca31567..fb6a123 100644
--- a/include/wave/geometry/src/geometry/leaf/AngleAxisRotation.hpp
+++ b/include/wave/geometry/src/geometry/leaf/AngleAxisRotation.hpp
@@ -51,7 +51,7 @@ namespace internal {
 
 template <typename ImplType>
 struct traits<AngleAxisRotation<ImplType>>
-  : rotation_leaf_traits_base<AngleAxisRotation<ImplType>> {
+    : rotation_leaf_traits_base<AngleAxisRotation<ImplType>> {
     using typename rotation_leaf_traits_base<AngleAxisRotation<ImplType>>::Scalar;
     using PlainType = AngleAxisRotation<Eigen::AngleAxis<Scalar>>;
     using ConvertTo = tmp::type_list<MatrixRotation<Eigen::Matrix<Scalar, 3, 3>>,
diff --git a/include/wave/geometry/src/geometry/leaf/CompactRigidTransform.hpp b/include/wave/geometry/src/geometry/leaf/CompactRigidTransform.hpp
index 05a0bd0..d6a325c 100644
--- a/include/wave/geometry/src/geometry/leaf/CompactRigidTransform.hpp
+++ b/include/wave/geometry/src/geometry/leaf/CompactRigidTransform.hpp
@@ -19,8 +19,8 @@ namespace wave {
  */
 template <typename ImplType>
 class CompactRigidTransform
-  : public RigidTransformBase<CompactRigidTransform<ImplType>>,
-    public LeafExpression<ImplType, CompactRigidTransform<ImplType>> {
+    : public RigidTransformBase<CompactRigidTransform<ImplType>>,
+      public LeafExpression<ImplType, CompactRigidTransform<ImplType>> {
     static_assert(internal::is_eigen_vector<7, ImplType>::value,
                   "ImplType must be an Eigen 7-vector type.");
 
@@ -100,7 +100,7 @@ namespace internal {
 
 template <typename ImplType>
 struct traits<CompactRigidTransform<ImplType>>
-  : rt_leaf_traits_base<CompactRigidTransform<ImplType>> {
+    : rt_leaf_traits_base<CompactRigidTransform<ImplType>> {
     using PlainType = CompactRigidTransform<typename ImplType::PlainObject>;
 };
 
diff --git a/include/wave/geometry/src/geometry/leaf/MatrixRigidTransform.hpp b/include/wave/geometry/src/geometry/leaf/MatrixRigidTransform.hpp
index a1169f7..e54ce23 100644
--- a/include/wave/geometry/src/geometry/leaf/MatrixRigidTransform.hpp
+++ b/include/wave/geometry/src/geometry/leaf/MatrixRigidTransform.hpp
@@ -16,8 +16,8 @@ namespace wave {
  */
 template <typename ImplType>
 class MatrixRigidTransform
-  : public RigidTransformBase<MatrixRigidTransform<ImplType>>,
-    public LeafExpression<ImplType, MatrixRigidTransform<ImplType>> {
+    : public RigidTransformBase<MatrixRigidTransform<ImplType>>,
+      public LeafExpression<ImplType, MatrixRigidTransform<ImplType>> {
     static_assert(internal::is_eigen_matrix<4, ImplType>::value,
                   "ImplType must be an Eigen 4x4 matrix type.");
 
@@ -109,7 +109,7 @@ struct rt_leaf_traits_base;
 
 template <typename ImplType>
 struct traits<MatrixRigidTransform<ImplType>>
-  : rt_leaf_traits_base<MatrixRigidTransform<ImplType>> {
+    : rt_leaf_traits_base<MatrixRigidTransform<ImplType>> {
     using PlainType = MatrixRigidTransform<typename ImplType::PlainObject>;
 };
 
diff --git a/include/wave/geometry/src/geometry/leaf/MatrixRotation.hpp b/include/wave/geometry/src/geometry/leaf/MatrixRotation.hpp
index cfad84e..12172b9 100644
--- a/include/wave/geometry/src/geometry/leaf/MatrixRotation.hpp
+++ b/include/wave/geometry/src/geometry/leaf/MatrixRotation.hpp
@@ -50,7 +50,7 @@ namespace internal {
 
 template <typename ImplType>
 struct traits<MatrixRotation<ImplType>>
-  : rotation_leaf_traits_base<MatrixRotation<ImplType>> {
+    : rotation_leaf_traits_base<MatrixRotation<ImplType>> {
     using PlainType = MatrixRotation<typename ImplType::PlainObject>;
 };
 
@@ -75,8 +75,8 @@ auto evalImpl(expr<LogMap>, const MatrixRotation<ImplType> &rhs) ->
     using Scalar = scalar_t<MatrixRotation<ImplType>>;
 
     // From http://ethaneade.com/lie.pdf
-    using std::sin;
     using std::acos;
+    using std::sin;
     const auto &m = rhs.value();
     const auto angle = acos((m.trace() - Scalar{1}) / Scalar{2});
 
diff --git a/include/wave/geometry/src/geometry/leaf/QuaternionRotation.hpp b/include/wave/geometry/src/geometry/leaf/QuaternionRotation.hpp
index 431b35c..11d240b 100644
--- a/include/wave/geometry/src/geometry/leaf/QuaternionRotation.hpp
+++ b/include/wave/geometry/src/geometry/leaf/QuaternionRotation.hpp
@@ -51,7 +51,7 @@ namespace internal {
 
 template <typename ImplType>
 struct traits<QuaternionRotation<ImplType>>
-  : rotation_leaf_traits_base<QuaternionRotation<ImplType>> {
+    : rotation_leaf_traits_base<QuaternionRotation<ImplType>> {
     using PlainType =
       QuaternionRotation<typename Eigen::internal::traits<ImplType>::PlainObject>;
     using typename rotation_leaf_traits_base<QuaternionRotation<ImplType>>::Scalar;
diff --git a/include/wave/geometry/src/geometry/leaf/RelativeRotation.hpp b/include/wave/geometry/src/geometry/leaf/RelativeRotation.hpp
index 303b336..941ecb7 100644
--- a/include/wave/geometry/src/geometry/leaf/RelativeRotation.hpp
+++ b/include/wave/geometry/src/geometry/leaf/RelativeRotation.hpp
@@ -86,7 +86,7 @@ namespace internal {
 
 template <typename ImplType>
 struct traits<RelativeRotation<ImplType>>
-  : vector_leaf_traits_base<RelativeRotation<ImplType>> {
+    : vector_leaf_traits_base<RelativeRotation<ImplType>> {
     using ExpType = MatrixRotation<Eigen::Matrix<typename ImplType::Scalar, 3, 3>>;
 };
 
@@ -96,8 +96,8 @@ auto evalImpl(expr<ExpMap>, const RelativeRotation<ImplType> &rhs) {
     using ExpType = typename traits<RelativeRotation<ImplType>>::ExpType;
     using Scalar = typename ImplType::Scalar;
     using Mat3 = Eigen::Matrix<Scalar, 3, 3>;
-    using std::sin;
     using std::cos;
+    using std::sin;
     using std::sqrt;
     const auto &r = rhs.value();
     // Rodrigues formula - see http://ethaneade.com/lie.pdf
diff --git a/include/wave/geometry/src/geometry/leaf/Rotation.hpp b/include/wave/geometry/src/geometry/leaf/Rotation.hpp
index 4b64520..b0f57b4 100644
--- a/include/wave/geometry/src/geometry/leaf/Rotation.hpp
+++ b/include/wave/geometry/src/geometry/leaf/Rotation.hpp
@@ -38,8 +38,8 @@ struct traits<AngleAxisRotation<ImplType, ToFrame_, FromFrame_>> {
 /** A rotation stored as a rotation matrix */
 template <typename ImplType, typename ToFrame, typename FromFrame>
 class MatrixRotation
-  : public RotationBase<MatrixRotation<ImplType, ToFrame, FromFrame>>,
-    public LeafExpression<MatrixRotation<ImplType, ToFrame, FromFrame>> {
+    : public RotationBase<MatrixRotation<ImplType, ToFrame, FromFrame>>,
+      public LeafExpression<MatrixRotation<ImplType, ToFrame, FromFrame>> {
     using Scalar = typename Eigen::internal::traits<ImplType>::Scalar;
     using Real = typename Eigen::NumTraits<Scalar>::Real;
     using TangentType = RelativeRotation<Eigen::Matrix<Scalar, 3, 1>>;
@@ -100,8 +100,8 @@ class MatrixRotation
 /** A rotation stored as a quaternion */
 template <typename ImplType, typename ToFrame, typename FromFrame>
 class QuaternionRotation
-  : public RotationBase<QuaternionRotation<ImplType, ToFrame, FromFrame>>,
-    public LeafExpression<QuaternionRotation<ImplType, ToFrame, FromFrame>> {
+    : public RotationBase<QuaternionRotation<ImplType, ToFrame, FromFrame>>,
+      public LeafExpression<QuaternionRotation<ImplType, ToFrame, FromFrame>> {
     using Scalar = typename Eigen::internal::traits<ImplType>::Scalar;
     using Real = typename Eigen::NumTraits<Scalar>::Real;
     using TangentType = RelativeRotation<Eigen::Matrix<Scalar, 3, 1>>;
@@ -158,8 +158,8 @@ class QuaternionRotation
 /** A rotation stored as an axis of rotation and magnitude */
 template <typename ImplType, typename ToFrame, typename FromFrame>
 class AngleAxisRotation
-  : public RotationBase<AngleAxisRotation<ImplType, ToFrame, FromFrame>>,
-    public LeafExpression<AngleAxisRotation<ImplType, ToFrame, FromFrame>> {
+    : public RotationBase<AngleAxisRotation<ImplType, ToFrame, FromFrame>>,
+      public LeafExpression<AngleAxisRotation<ImplType, ToFrame, FromFrame>> {
     using Scalar = typename Eigen::internal::traits<ImplType>::Scalar;
     using Real = typename Eigen::NumTraits<Scalar>::Real;
     using TangentType = RelativeRotation<Eigen::Matrix<Scalar, 3, 1>>;
diff --git a/include/wave/geometry/src/geometry/op/BoxMinus.hpp b/include/wave/geometry/src/geometry/op/BoxMinus.hpp
index baaf443..4780b3f 100644
--- a/include/wave/geometry/src/geometry/op/BoxMinus.hpp
+++ b/include/wave/geometry/src/geometry/op/BoxMinus.hpp
@@ -17,10 +17,10 @@ namespace wave {
  */
 template <typename Lhs, typename Rhs>
 struct BoxMinus
-  : internal::base_tmpl_t<typename internal::eval_traits<Lhs>::TangentType,
-                          typename internal::eval_traits<Rhs>::TangentType,
-                          BoxMinus<Lhs, Rhs>>,
-    UnaryExpressionBase<BoxMinus<Lhs, Rhs>, Compose<Lhs, Inverse<Rhs> &&> &&> {
+    : internal::base_tmpl_t<typename internal::eval_traits<Lhs>::TangentType,
+                            typename internal::eval_traits<Rhs>::TangentType,
+                            BoxMinus<Lhs, Rhs>>,
+      UnaryExpressionBase<BoxMinus<Lhs, Rhs>, Compose<Lhs, Inverse<Rhs> &&> &&> {
  private:
     using Storage =
       UnaryExpressionBase<BoxMinus<Lhs, Rhs>, Compose<Lhs, Inverse<Rhs> &&> &&>;
@@ -40,7 +40,7 @@ namespace internal {
  */
 template <typename Lhs, typename Rhs>
 struct traits<BoxMinus<Lhs, Rhs>>
-  : traits<LogMap<RightFrameOf<Rhs>, Compose<Lhs, Inverse<Rhs> &&> &&>> {};
+    : traits<LogMap<RightFrameOf<Rhs>, Compose<Lhs, Inverse<Rhs> &&> &&>> {};
 
 }  // namespace internal
 }  // namespace wave
diff --git a/include/wave/geometry/src/geometry/op/ExpMap.hpp b/include/wave/geometry/src/geometry/op/ExpMap.hpp
index bc5332d..6f537d9 100644
--- a/include/wave/geometry/src/geometry/op/ExpMap.hpp
+++ b/include/wave/geometry/src/geometry/op/ExpMap.hpp
@@ -13,8 +13,8 @@ namespace wave {
  */
 template <typename Rhs>
 struct ExpMap
-  : internal::base_tmpl_t<typename internal::eval_traits<Rhs>::ExpType, ExpMap<Rhs>>,
-    UnaryExpression<ExpMap<Rhs>> {
+    : internal::base_tmpl_t<typename internal::eval_traits<Rhs>::ExpType, ExpMap<Rhs>>,
+      UnaryExpression<ExpMap<Rhs>> {
  private:
     using Storage = UnaryExpression<ExpMap<Rhs>>;
 
diff --git a/include/wave/geometry/src/geometry/op/LogMap.hpp b/include/wave/geometry/src/geometry/op/LogMap.hpp
index e59ae9e..587a8d1 100644
--- a/include/wave/geometry/src/geometry/op/LogMap.hpp
+++ b/include/wave/geometry/src/geometry/op/LogMap.hpp
@@ -27,7 +27,7 @@ namespace internal {
 
 template <typename ExtraFrame, typename Rhs>
 struct traits<LogMap<ExtraFrame, Rhs>>
-  : unary_traits_base_tag<LogMap<ExtraFrame, Rhs>, expr<LogMap>> {
+    : unary_traits_base_tag<LogMap<ExtraFrame, Rhs>, expr<LogMap>> {
     using OutputFunctor = WrapWithFrames<LeftFrameOf<Rhs>, LeftFrameOf<Rhs>, ExtraFrame>;
 };
 
diff --git a/include/wave/geometry/src/geometry/op/Minus.hpp b/include/wave/geometry/src/geometry/op/Minus.hpp
index 186255e..5071c29 100644
--- a/include/wave/geometry/src/geometry/op/Minus.hpp
+++ b/include/wave/geometry/src/geometry/op/Minus.hpp
@@ -23,7 +23,7 @@ namespace internal {
 // Traits for -(framed vector)
 template <typename Rhs>
 struct traits<Minus<Rhs>, std::enable_if_t<has_three_decorators<Rhs>{}>>
-  : unary_traits_base<Minus<Rhs>> {
+    : unary_traits_base<Minus<Rhs>> {
     using OutputFunctor =
       WrapWithFrames<LeftFrameOf<Rhs>, RightFrameOf<Rhs>, MiddleFrameOf<Rhs>>;
 };
diff --git a/include/wave/geometry/src/geometry/op/Sum.hpp b/include/wave/geometry/src/geometry/op/Sum.hpp
index ee7712f..81c0af9 100644
--- a/include/wave/geometry/src/geometry/op/Sum.hpp
+++ b/include/wave/geometry/src/geometry/op/Sum.hpp
@@ -34,7 +34,7 @@ namespace internal {
 template <typename Lhs, typename Rhs>
 struct traits<Sum<Lhs, Rhs>,
               std::enable_if_t<std::is_same<RightFrameOf<Lhs>, MiddleFrameOf<Rhs>>{}>>
-  : binary_traits_base<Sum<Lhs, Rhs>> {
+    : binary_traits_base<Sum<Lhs, Rhs>> {
     using OutputFunctor =
       WrapWithFrames<LeftFrameOf<Lhs>, MiddleFrameOf<Lhs>, RightFrameOf<Rhs>>;
 };
@@ -44,7 +44,7 @@ template <typename Lhs, typename Rhs>
 struct traits<Sum<Lhs, Rhs>,
               std::enable_if_t<!std::is_same<RightFrameOf<Lhs>, MiddleFrameOf<Rhs>>{} &&
                                std::is_same<RightFrameOf<Rhs>, MiddleFrameOf<Lhs>>{}>>
-  : binary_traits_base<Sum<Lhs, Rhs>> {
+    : binary_traits_base<Sum<Lhs, Rhs>> {
     using OutputFunctor =
       WrapWithFrames<LeftFrameOf<Rhs>, MiddleFrameOf<Rhs>, RightFrameOf<Lhs>>;
 };
@@ -55,7 +55,7 @@ template <typename Lhs, typename Rhs>
 struct traits<Sum<Lhs, Rhs>,
               std::enable_if_t<!std::is_same<RightFrameOf<Lhs>, MiddleFrameOf<Rhs>>{} &&
                                !std::is_same<RightFrameOf<Rhs>, MiddleFrameOf<Lhs>>{}>>
-  : binary_traits_base<Sum<Lhs, Rhs>> {};
+    : binary_traits_base<Sum<Lhs, Rhs>> {};
 
 /** Jacobian implementation for all sums */
 template <typename Res, typename Lhs, typename Rhs>
diff --git a/include/wave/geometry/src/util/math/IdentityMatrix.hpp b/include/wave/geometry/src/util/math/IdentityMatrix.hpp
index 5a75dd1..a459594 100644
--- a/include/wave/geometry/src/util/math/IdentityMatrix.hpp
+++ b/include/wave/geometry/src/util/math/IdentityMatrix.hpp
@@ -43,7 +43,7 @@ namespace internal {
 // See https://eigen.tuxfamily.org/dox/TopicNewExpressionType.html
 template <typename Scalar, int N>
 struct traits<::wave::IdentityMatrix<Scalar, N>>
-  : Eigen::Matrix<Scalar, N, N>::IdentityReturnType {};
+    : Eigen::Matrix<Scalar, N, N>::IdentityReturnType {};
 
 }  // namespace internal
 
diff --git a/include/wave/geometry/src/util/meta/index_sequence.hpp b/include/wave/geometry/src/util/meta/index_sequence.hpp
index 747e860..7ef7698 100644
--- a/include/wave/geometry/src/util/meta/index_sequence.hpp
+++ b/include/wave/geometry/src/util/meta/index_sequence.hpp
@@ -72,7 +72,7 @@ struct make_index_sequence<0, S, Indices...> : index_sequence<Indices...> {};
 // onto the first, and discard the second sequence.
 template <int... I1, int... I2, typename... Seqs>
 struct concat_index_sequence<index_sequence<I1...>, index_sequence<I2...>, Seqs...>
-  : concat_index_sequence<index_sequence<I1..., I2...>, Seqs...> {};
+    : concat_index_sequence<index_sequence<I1..., I2...>, Seqs...> {};
 
 // Base case: one sequence left
 template <int... I1>
diff --git a/include/wave/geometry/src/util/meta/template_helpers.hpp b/include/wave/geometry/src/util/meta/template_helpers.hpp
index c05eba0..1dcb3b3 100644
--- a/include/wave/geometry/src/util/meta/template_helpers.hpp
+++ b/include/wave/geometry/src/util/meta/template_helpers.hpp
@@ -31,7 +31,7 @@ template <class B1>
 struct conjunction<B1> : B1 {};
 template <class B1, class... Bn>
 struct conjunction<B1, Bn...>
-  : std::conditional_t<bool(B1::value), conjunction<Bn...>, B1> {};
+    : std::conditional_t<bool(B1::value), conjunction<Bn...>, B1> {};
 
 /** Logical OR with short-circutiting, from C++17
  * (see http://en.cppreference.com/w/cpp/types/disjunction)
@@ -42,7 +42,7 @@ template <class B1>
 struct disjunction<B1> : B1 {};
 template <class B1, class... Bn>
 struct disjunction<B1, Bn...>
-  : std::conditional_t<bool(B1::value), B1, disjunction<Bn...>> {};
+    : std::conditional_t<bool(B1::value), B1, disjunction<Bn...>> {};
 
 // End of std:: backports. Custom metaprogramming helpers follow.
 
@@ -128,9 +128,12 @@ struct matching_base_impl;
 
 // Recursive step for unary expression template
 template <typename Derived,
-          template <typename> class Tmpl,
-          template <typename> class Head,
-          template <typename> class... Tail>
+          template <typename>
+          class Tmpl,
+          template <typename>
+          class Head,
+          template <typename>
+          class... Tail>
 struct matching_base_impl<Tmpl<Derived>, Head, Tail...> {
     using type = std::conditional_t<
       std::is_base_of<Head<Derived>, Derived>::value,
@@ -142,9 +145,12 @@ struct matching_base_impl<Tmpl<Derived>, Head, Tail...> {
 // Recursive step for binary expression template - enforces matching of both sides
 template <typename Lhs,
           typename Rhs,
-          template <typename, typename> class Tmpl,
-          template <typename> class Head,
-          template <typename> class... Tail>
+          template <typename, typename>
+          class Tmpl,
+          template <typename>
+          class Head,
+          template <typename>
+          class... Tail>
 struct matching_base_impl<Tmpl<Lhs, Rhs>, Head, Tail...> {
     using type = std::conditional_t<
       std::is_base_of<Head<Lhs>, Lhs>::value && std::is_base_of<Head<Rhs>, Rhs>::value,
@@ -198,7 +204,7 @@ struct function_traits<Return (Class::*)(Args...)> : function_traits<Return(Args
 /** Specialization for const member function */
 template <typename Class, typename Return, typename... Args>
 struct function_traits<Return (Class::*)(Args...) const>
-  : function_traits<Return(Args...)> {};
+    : function_traits<Return(Args...)> {};
 
 /** Specialization for bare function pointer */
 template <typename Return, typename... Args>
diff --git a/include/wave/geometry/src/util/meta/type_list.hpp b/include/wave/geometry/src/util/meta/type_list.hpp
index 775ad0c..e119de4 100644
--- a/include/wave/geometry/src/util/meta/type_list.hpp
+++ b/include/wave/geometry/src/util/meta/type_list.hpp
@@ -23,12 +23,12 @@ template <class...>
 struct expanding_disjunction : std::false_type {};
 template <class... T, class... Bn>
 struct expanding_disjunction<type_list<T...>, Bn...>
-  : expanding_disjunction<T..., Bn...> {};
+    : expanding_disjunction<T..., Bn...> {};
 template <class B1>
 struct expanding_disjunction<B1> : B1 {};
 template <class B1, class... Bn>
 struct expanding_disjunction<B1, Bn...>
-  : std::conditional_t<bool(B1::value), B1, expanding_disjunction<Bn...>> {};
+    : std::conditional_t<bool(B1::value), B1, expanding_disjunction<Bn...>> {};
 
 
 /** Concatenate variadic type lists (of the same kind)
@@ -73,7 +73,8 @@ template <template <typename...> class F, typename... T>
 using apply_t = typename apply<F, T...>::type;
 
 template <template <typename...> class F,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply<F, List<Items...>> {
     using type = F<Items...>;
@@ -81,7 +82,8 @@ struct apply<F, List<Items...>> {
 
 template <template <typename...> class F,
           typename A,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply<F, A, List<Items...>> {
     using type = F<A, Items...>;
@@ -90,7 +92,8 @@ struct apply<F, A, List<Items...>> {
 template <template <typename...> class F,
           typename A,
           typename B,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply<F, A, B, List<Items...>> {
     using type = F<A, B, Items...>;
@@ -116,7 +119,8 @@ template <template <typename...> class F, typename... T>
 using apply_each_t = typename apply_each<F, T...>::type;
 
 template <template <typename...> class F,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply_each<F, List<Items...>> {
     using type = List<F<Items>...>;
@@ -124,7 +128,8 @@ struct apply_each<F, List<Items...>> {
 
 template <template <typename...> class F,
           typename A,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply_each<F, A, List<Items...>> {
     using type = List<F<A, Items>...>;
@@ -133,7 +138,8 @@ struct apply_each<F, A, List<Items...>> {
 template <template <typename...> class F,
           typename A,
           typename B,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... Items>
 struct apply_each<F, A, B, List<Items...>> {
     using type = List<F<A, B, Items>...>;
@@ -151,7 +157,8 @@ template <template <typename...> class C, typename A, typename B>
 using apply_cartesian_t = typename apply_cartesian<C, A, B>::type;
 
 template <template <typename...> class C,
-          template <typename...> class List,
+          template <typename...>
+          class List,
           typename... As,
           typename... Bs>
 struct apply_cartesian<C, List<As...>, List<Bs...>> {
@@ -194,9 +201,9 @@ struct concat_if_unique;
 
 template <template <typename...> class List, typename... As, typename B0, typename... Bs>
 struct concat_if_unique<List<As...>, List<B0, Bs...>>
-  : std::conditional_t<find<List<As...>, B0>::value >= 0,
-                       std::false_type,
-                       concat_if_unique<List<As..., B0>, List<Bs...>>> {};
+    : std::conditional_t<find<List<As...>, B0>::value >= 0,
+                         std::false_type,
+                         concat_if_unique<List<As..., B0>, List<Bs...>>> {};
 
 template <template <typename...> class List, typename... As>
 struct concat_if_unique<List<As...>, List<>> : std::true_type {
diff --git a/scripts/ci/ci_check.bash b/scripts/ci/ci_check.bash
index 61399d5..050bfb1 100755
--- a/scripts/ci/ci_check.bash
+++ b/scripts/ci/ci_check.bash
@@ -3,9 +3,6 @@ set -e  # exit on first error
 DIR="$(cd "$(dirname "${BASH_SOURCE[0]}" )" && pwd)" # This script's directory
 
 check_format() {
-    # Use specifically clang-format-3.8 on CI
-    export FORMAT_EXE=clang-format-3.8
-
     # Run clang-format on all files
     bash "${DIR}/../format.bash"
     # Check if it replaced anything, and print the files if so
diff --git a/test/test.hpp b/test/test.hpp
index 00bc3c5..98691a3 100644
--- a/test/test.hpp
+++ b/test/test.hpp
@@ -76,8 +76,8 @@ bool checkApproxCoeffWise(const Matrix &expected, const Matrix &actual, double p
         for (int j = 0; j < expected.cols(); ++j) {
             using std::abs;
             const auto err = abs(expected(i, j) - actual(i, j));
-            EXPECT_NEAR(expected(i, j), actual(i, j), prec) << " (" << i << ", " << j
-                                                            << ")";
+            EXPECT_NEAR(expected(i, j), actual(i, j), prec)
+              << " (" << i << ", " << j << ")";
             if (err >= prec) {
                 return false;
             }
@@ -314,7 +314,7 @@ std::enable_if_t<not UniqueExpr> checkJacobians(const Expr &expr, const Wrt &...
     if (condition)                                                \
         EXPECT_THROW(statement, expected_exception);              \
     else                                                          \
-    EXPECT_NO_THROW(statement)
+        EXPECT_NO_THROW(statement)
 
 namespace Eigen {