diff --git a/src/dbastar/dbastar.cpp b/src/dbastar/dbastar.cpp
index 668c037..8fde1cd 100644
--- a/src/dbastar/dbastar.cpp
+++ b/src/dbastar/dbastar.cpp
@@ -288,8 +288,8 @@ void from_solution_to_yaml_and_traj(dynobench::Model_robot &robot,
     }
     DYNO_CHECK_LEQ(take_num_actions, motion.actions.size(), AT);
     if (out) {
-      *out << space6 + "# "
-           << "take_num_actions " << take_num_actions << std::endl;
+      *out << space6 + "# " << "take_num_actions " << take_num_actions
+           << std::endl;
     }
 
     for (size_t k = 0; k < take_num_actions; ++k) {
@@ -703,22 +703,19 @@ void dbastar(const dynobench::Problem &problem, Options_dbastar options_dbastar,
     if (static_cast<size_t>(time_bench.expands) >=
         options_dbastar.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:"
-                << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbastar.search_timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:"
-                << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
       return true;
     }
 
     if (open.empty()) {
       status = Terminate_status::EMPTY_QUEUE;
-      std::cout << "BREAK search:"
-                << "EMPTY_QUEUE" << std::endl;
+      std::cout << "BREAK search:" << "EMPTY_QUEUE" << std::endl;
       return true;
     }
 
diff --git a/src/dbrrt/dbrrt.cpp b/src/dbrrt/dbrrt.cpp
index 264deda..434b0ae 100644
--- a/src/dbrrt/dbrrt.cpp
+++ b/src/dbrrt/dbrrt.cpp
@@ -497,16 +497,14 @@ void dbrrtConnect(const dynobench::Problem &problem,
   auto stop_search = [&] {
     if (static_cast<size_t>(time_bench.expands) >= options_dbrrt.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:"
-                << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
 
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbrrt.timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:"
-                << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
       return true;
     }
     return false;
@@ -1051,16 +1049,14 @@ void dbrrt(const dynobench::Problem &problem,
   auto stop_search = [&] {
     if (static_cast<size_t>(time_bench.expands) >= options_dbrrt.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:"
-                << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
 
       return true;
     }
 
     if (watch.elapsed_ms() > options_dbrrt.timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:"
-                << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
       return true;
     }
     return false;
@@ -1120,9 +1116,8 @@ void dbrrt(const dynobench::Problem &problem,
     if (options_dbrrt.ao_rrt &&
         near_node->gScore + near_node->hScore >
             options_dbrrt.best_cost_prune_factor * cost_bound) {
-      std::cout << "warning! "
-                << "cost of near is above bound -- " << near_node->gScore << " "
-                << cost_bound << std::endl;
+      std::cout << "warning! " << "cost of near is above bound -- "
+                << near_node->gScore << " " << cost_bound << std::endl;
       continue;
     }
 
diff --git a/src/idbastar/idbastar.cpp b/src/idbastar/idbastar.cpp
index 0cb8e50..17846f5 100644
--- a/src/idbastar/idbastar.cpp
+++ b/src/idbastar/idbastar.cpp
@@ -280,8 +280,8 @@ void idbA(const dynobench::Problem &problem,
                          std::make_move_iterator(motions_out.end()));
 
           std::cout << "Afer insert " << motions.size() << std::endl;
-          std::cout << "Warning: "
-                    << "I am inserting at the beginning" << std::endl;
+          std::cout << "Warning: " << "I am inserting at the beginning"
+                    << std::endl;
 
           std::cout << "i update the idx of the motions " << std::endl;
           // Very important to update the idx of the motions
diff --git a/src/motion_primitives/main_primitives.cpp b/src/motion_primitives/main_primitives.cpp
index e4e8212..71f4637 100644
--- a/src/motion_primitives/main_primitives.cpp
+++ b/src/motion_primitives/main_primitives.cpp
@@ -379,8 +379,7 @@ int main(int argc, const char *argv[]) {
     }
     CSTR_(trajectories.data.size());
     trajectories.compute_stats(out_file.c_str());
-    std::cout << "writing stats to "
-              << "/tmp/tmp_stats.yaml" << std::endl;
+    std::cout << "writing stats to " << "/tmp/tmp_stats.yaml" << std::endl;
     std::filesystem::copy(out_file, "/tmp/tmp_stats.yaml",
                           std::filesystem::copy_options::overwrite_existing);
   }
diff --git a/src/motion_primitives/motion_primitives.cpp b/src/motion_primitives/motion_primitives.cpp
index faee48d..6c674f3 100644
--- a/src/motion_primitives/motion_primitives.cpp
+++ b/src/motion_primitives/motion_primitives.cpp
@@ -334,8 +334,8 @@ void split_motion_primitives(const dynobench::Trajectories &in,
       }
 
       dynobench::Trajectory new_traj;
-      std::cout << "i: " << i << " "
-                << "start: " << start << " length:" << length << std::endl;
+      std::cout << "i: " << i << " " << "start: " << start
+                << " length:" << length << std::endl;
       new_traj.states = std::vector<Eigen::VectorXd>{
           traj.states.begin() + start,
           traj.states.begin() + start + length + 1};
diff --git a/src/ompl/robots.cpp b/src/ompl/robots.cpp
index 905700e..1f85981 100644
--- a/src/ompl/robots.cpp
+++ b/src/ompl/robots.cpp
@@ -3114,8 +3114,8 @@ void load_motion_primitives_new(const std::string &motionsFile,
   CSTR_(add_noise_first_state);
 
   if (add_noise_first_state) {
-    std::cout << "WARNING:"
-              << "adding noise to first and last state" << std::endl;
+    std::cout << "WARNING:" << "adding noise to first and last state"
+              << std::endl;
     const double noise = 1e-7;
     for (auto &t : trajs.data) {
       t.states.front() +=
diff --git a/src/ompl/sst.cpp b/src/ompl/sst.cpp
index 0471bd5..ddad3e8 100644
--- a/src/ompl/sst.cpp
+++ b/src/ompl/sst.cpp
@@ -422,10 +422,8 @@ void solve_sst(const dynobench::Problem &problem,
       auto &state = states.at(i);
       auto &edge = edges.at(i);
       out << "- " << std::endl;
-      out << " "
-          << "x: " << state.format(FMT) << std::endl;
-      out << " "
-          << "e: ";
+      out << " " << "x: " << state.format(FMT) << std::endl;
+      out << " " << "e: ";
       print_vec(edge.data(), edge.size(), out);
     }
   }
diff --git a/src/optimization/croco_models.cpp b/src/optimization/croco_models.cpp
index de6e6bd..4d3bcb3 100644
--- a/src/optimization/croco_models.cpp
+++ b/src/optimization/croco_models.cpp
@@ -165,21 +165,21 @@ void check_input_calc(Eigen::Ref<Eigen::VectorXd> xnext,
                       const Eigen::Ref<const Vxd> &u, size_t nx, size_t nu) {
 
   if (static_cast<std::size_t>(x.size()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "x has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "x has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(u.size()) != nu) {
-    throw_pretty("Invalid argument: "
-                 << "x has wrong dimension (it should be " +
-                        std::to_string(nu) + ")");
+    throw_pretty(
+        "Invalid argument: " << "x has wrong dimension (it should be " +
+                                    std::to_string(nu) + ")");
   }
 
   if (static_cast<std::size_t>(xnext.size()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "xnext has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "xnext has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 };
 
@@ -190,38 +190,38 @@ void check_input_calcdiff(Eigen::Ref<Eigen::MatrixXd> Fx,
                           size_t nu) {
 
   if (static_cast<std::size_t>(x.size()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "x has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "x has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
   if (static_cast<std::size_t>(u.size()) != nu) {
-    throw_pretty("Invalid argument: "
-                 << "u has wrong dimension (it should be " +
-                        std::to_string(nu) + ")");
+    throw_pretty(
+        "Invalid argument: " << "u has wrong dimension (it should be " +
+                                    std::to_string(nu) + ")");
   }
 
   if (static_cast<std::size_t>(Fx.cols()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "Fx has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Fx has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fx.rows()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "Fx has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Fx has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fu.cols()) != nu) {
-    throw_pretty("Invalid argument: "
-                 << "Fu has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Fu has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 
   if (static_cast<std::size_t>(Fu.rows()) != nx) {
-    throw_pretty("Invalid argument: "
-                 << "Fu has wrong dimension (it should be " +
-                        std::to_string(nx) + ")");
+    throw_pretty(
+        "Invalid argument: " << "Fu has wrong dimension (it should be " +
+                                    std::to_string(nx) + ")");
   }
 }
 
@@ -1043,10 +1043,10 @@ int get_additional_nu(Control_Mode control_mode) {
 
 boost::shared_ptr<StateCrocoDyno>
 mk_state_croco(std::shared_ptr<dynobench::Model_robot> model_robot,
-               Control_Mode control_mode){};
+               Control_Mode control_mode) {};
 
 int get_nx(std::shared_ptr<dynobench::Model_robot> model_robot,
-           Control_Mode control_mode){};
+           Control_Mode control_mode) {};
 
 ActionModelDynov2::ActionModelDynov2(
     std::shared_ptr<dynobench::Model_robot> model_robot,
diff --git a/src/optimization/ocp.cpp b/src/optimization/ocp.cpp
index c0e923a..4621a77 100644
--- a/src/optimization/ocp.cpp
+++ b/src/optimization/ocp.cpp
@@ -614,8 +614,7 @@ void fix_problem_quaternion(Eigen::VectorXd &start, Eigen::VectorXd &goal,
   double d2 = (xs_init.front().segment<4>(3) + start.segment<4>(3)).norm();
 
   if (d2 < d1) {
-    std::cout << "WARNING: "
-              << "i flip the start state" << std::endl;
+    std::cout << "WARNING: " << "i flip the start state" << std::endl;
     xs_init.front().segment<4>(3) *= -1.;
   }
 
@@ -1081,8 +1080,8 @@ void __trajectory_optimization(
   SOLVER solver = static_cast<SOLVER>(options_trajopt_local.solver_id);
 
   if (modify_to_match_goal_start) {
-    std::cout << "WARNING: "
-              << "i modify last state to match goal" << std::endl;
+    std::cout << "WARNING: " << "i modify last state to match goal"
+              << std::endl;
     xs_init.back() = goal;
     xs_init.front() = start;
   }
@@ -1649,16 +1648,14 @@ void __trajectory_optimization(
 
       if (is_last) {
         finished = true;
-        std::cout << "finished: "
-                  << "is_last=TRUE" << std::endl;
+        std::cout << "finished: " << "is_last=TRUE" << std::endl;
       }
 
       counter++;
 
       if (counter > options_trajopt_local.max_mpc_iterations) {
         finished = true;
-        std::cout << "finished: "
-                  << "max mpc iterations" << std::endl;
+        std::cout << "finished: " << "max mpc iterations" << std::endl;
       }
     }
     std::cout << "Total TIME: " << total_time << std::endl;
@@ -2088,9 +2085,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
       CSTR_(time_ddp_total);
 
       if (!opti_out.success) {
-        std::cout << "warning"
-                  << " "
-                  << "not success" << std::endl;
+        std::cout << "warning" << " " << "not success" << std::endl;
         do_mpcc = false;
         break;
       }
@@ -2115,9 +2110,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
         time_ddp_total += std::stod(opti_out.data.at("ddp_time"));
         CSTR_(time_ddp_total);
         if (!opti_out.success) {
-          std::cout << "warning"
-                    << " "
-                    << "not success" << std::endl;
+          std::cout << "warning" << " " << "not success" << std::endl;
           break;
         }
       }
@@ -2144,9 +2137,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
     time_ddp_total += std::stod(opti_out.data.at("ddp_time"));
     CSTR_(time_ddp_total);
     if (!opti_out.success) {
-      std::cout << "warning"
-                << " "
-                << "not success" << std::endl;
+      std::cout << "warning" << " " << "not success" << std::endl;
       do_free_time = false;
     }
 
@@ -2194,9 +2185,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
     time_ddp_total += std::stod(opti_out.data.at("ddp_time"));
     CSTR_(time_ddp_total);
     if (!opti_out.success) {
-      std::cout << "warning"
-                << " "
-                << "fail first step" << std::endl;
+      std::cout << "warning" << " " << "fail first step" << std::endl;
       do_free_time = false;
     }
 
@@ -2374,8 +2363,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
     CSTR_(time_ddp_total);
 
     if (!opti_out.success) {
-      std::cout << "warning:"
-                << "not success" << std::endl;
+      std::cout << "warning:" << "not success" << std::endl;
       do_final_repair_step = false;
     }
 
@@ -2410,9 +2398,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
     CSTR_(time_ddp_total);
 
     if (!opti_out.success) {
-      std::cout << "warning"
-                << " "
-                << "infeasible" << std::endl;
+      std::cout << "warning" << " " << "infeasible" << std::endl;
       do_final_repair_step = false;
     }
 
@@ -2523,9 +2509,7 @@ void trajectory_optimization(const dynobench::Problem &problem,
     // solve without bounds  --
 
     if (!opti_out.success) {
-      std::cout << "warning"
-                << " "
-                << "not success" << std::endl;
+      std::cout << "warning" << " " << "not success" << std::endl;
       do_opti_with_real_bounds = false;
     }
 
diff --git a/src/tdbastar/tdbastar.cpp b/src/tdbastar/tdbastar.cpp
index a4522c8..41460bf 100644
--- a/src/tdbastar/tdbastar.cpp
+++ b/src/tdbastar/tdbastar.cpp
@@ -276,8 +276,8 @@ void from_solution_to_yaml_and_traj(dynobench::Model_robot &robot,
     }
     DYNO_CHECK_LEQ(take_num_actions, motion.actions.size(), AT);
     if (out) {
-      *out << space6 + "# "
-           << "take_num_actions " << take_num_actions << std::endl;
+      *out << space6 + "# " << "take_num_actions " << take_num_actions
+           << std::endl;
     }
 
     for (size_t k = 0; k < take_num_actions; ++k) {
@@ -675,22 +675,19 @@ void tdbastar(
     if (static_cast<size_t>(time_bench.expands) >=
         options_tdbastar.max_expands) {
       status = Terminate_status::MAX_EXPANDS;
-      std::cout << "BREAK search:"
-                << "MAX_EXPANDS" << std::endl;
+      std::cout << "BREAK search:" << "MAX_EXPANDS" << std::endl;
       return true;
     }
 
     if (watch.elapsed_ms() > options_tdbastar.search_timelimit) {
       status = Terminate_status::MAX_TIME;
-      std::cout << "BREAK search:"
-                << "MAX_TIME" << std::endl;
+      std::cout << "BREAK search:" << "MAX_TIME" << std::endl;
       return true;
     }
 
     if (open.empty()) {
       status = Terminate_status::EMPTY_QUEUE;
-      std::cout << "BREAK search:"
-                << "EMPTY_QUEUE" << std::endl;
+      std::cout << "BREAK search:" << "EMPTY_QUEUE" << std::endl;
       return true;
     }
 
@@ -909,7 +906,7 @@ void tdbastar(
         break;
       }
     } // end of lazy_trajs loop
-  }   // out of while loop
+  } // out of while loop
 
   time_bench.time_search = watch.elapsed_ms();