diff --git a/include/dynoplan/optimization/croco_models.hpp b/include/dynoplan/optimization/croco_models.hpp
index 8809cdb..1fdfba8 100644
--- a/include/dynoplan/optimization/croco_models.hpp
+++ b/include/dynoplan/optimization/croco_models.hpp
@@ -74,14 +74,11 @@ void modify_u_bound_for_contour(const Eigen::VectorXd &__u_lb,
                                 Eigen::VectorXd &u_weight,
                                 Eigen::VectorXd &u_ref);
 
-void modify_u_bound_for_free_time(const Eigen::VectorXd &__u_lb,
-                                  const Eigen::VectorXd &__u_ub,
-                                  const Eigen::VectorXd &__u__weight,
-                                  const Eigen::VectorXd &__u__ref,
-                                  Eigen::VectorXd &u_lb, Eigen::VectorXd &u_ub,
-                                  Eigen::VectorXd &u_weight,
-                                  Eigen::VectorXd &u_ref, 
-                                  const std::map<std::string, double> &params);
+void modify_u_bound_for_free_time(
+    const Eigen::VectorXd &__u_lb, const Eigen::VectorXd &__u_ub,
+    const Eigen::VectorXd &__u__weight, const Eigen::VectorXd &__u__ref,
+    Eigen::VectorXd &u_lb, Eigen::VectorXd &u_ub, Eigen::VectorXd &u_weight,
+    Eigen::VectorXd &u_ref, const std::map<std::string, double> &params);
 
 void modify_x_bound_for_contour(const Eigen::VectorXd &__x_lb,
                                 const Eigen::VectorXd &__x_ub,
@@ -397,12 +394,12 @@ struct Dynamics_free_time {
   boost::shared_ptr<StateCrocoDyno> state_croco;
   Eigen::VectorXd __v; // data
 
-    std::map<std::string, double> params ;
+  std::map<std::string, double> params;
 
   Dynamics_free_time(
       std::shared_ptr<dynobench::Model_robot> robot_model = nullptr,
-      const Control_Mode &control_mode = Control_Mode::default_mode ,
-    const std::map<std::string, double> &params = {});
+      const Control_Mode &control_mode = Control_Mode::default_mode,
+      const std::map<std::string, double> &params = {});
 
   std::shared_ptr<crocoddyl::StateAbstractTpl<double>> state;
 
diff --git a/include/dynoplan/optimization/options.hpp b/include/dynoplan/optimization/options.hpp
index 8ecb50b..cde5c63 100644
--- a/include/dynoplan/optimization/options.hpp
+++ b/include/dynoplan/optimization/options.hpp
@@ -9,7 +9,6 @@ namespace po = boost::program_options;
 
 struct Options_trajopt {
 
-
   double time_ref = .5;
   double time_weight = .7;
   bool check_with_finite_diff = false;
diff --git a/src/optimization/croco_models.cpp b/src/optimization/croco_models.cpp
index de58d45..de6e6bd 100644
--- a/src/optimization/croco_models.cpp
+++ b/src/optimization/croco_models.cpp
@@ -151,8 +151,7 @@ void modify_u_bound_for_free_time(const Vxd &__u_lb, const Vxd &__u_ub,
       GetWithDef(params, std::string("min_time_rate"), .4);
   const double max_time_rate =
       GetWithDef(params, std::string("max_time_rate"), 2.);
-  const double ref_time_rate =
-      GetWithDef(params, std::string("time_ref"), .5);
+  const double ref_time_rate = GetWithDef(params, std::string("time_ref"), .5);
   const double time_weight = GetWithDef(params, std::string("time_weight"), .7);
 
   u_lb << __u_lb, min_time_rate;
diff --git a/src/optimization/ocp.cpp b/src/optimization/ocp.cpp
index 15a7d66..e94b6fd 100644
--- a/src/optimization/ocp.cpp
+++ b/src/optimization/ocp.cpp
@@ -78,7 +78,6 @@ class CallVerboseDyno : public crocoddyl::CallbackAbstract {
 //                             "traj_opt_free_time_proxi_linear",
 //                             "none"};
 
-
 #if 0
 void read_from_file(File_parser_inout &inout) {
 
diff --git a/src/optimization/options.cpp b/src/optimization/options.cpp
index 9c6bef6..66cd708 100644
--- a/src/optimization/options.cpp
+++ b/src/optimization/options.cpp
@@ -8,12 +8,10 @@ namespace dynoplan {
 
 void Options_trajopt::add_options(po::options_description &desc) {
 
-
   set_from_boostop(desc, VAR_WITH_NAME(time_ref));
   set_from_boostop(desc, VAR_WITH_NAME(time_weight));
   set_from_boostop(desc, VAR_WITH_NAME(check_with_finite_diff));
 
-
   set_from_boostop(desc, VAR_WITH_NAME(name));
   set_from_boostop(desc, VAR_WITH_NAME(soft_control_bounds));
   set_from_boostop(desc, VAR_WITH_NAME(rollout_warmstart));
@@ -53,12 +51,10 @@ void Options_trajopt::read_from_yaml(const char *file) {
 
 void Options_trajopt::__read_from_node(const YAML::Node &node) {
 
-
   set_from_yaml(node, VAR_WITH_NAME(time_ref));
   set_from_yaml(node, VAR_WITH_NAME(time_weight));
   set_from_yaml(node, VAR_WITH_NAME(check_with_finite_diff));
 
-
   set_from_yaml(node, VAR_WITH_NAME(name));
   set_from_yaml(node, VAR_WITH_NAME(soft_control_bounds));
   set_from_yaml(node, VAR_WITH_NAME(noise_level));
diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
index 7c4bf31..36902dc 100644
--- a/test/CMakeLists.txt
+++ b/test/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package(Boost REQUIRED COMPONENTS unit_test_framework)
 add_executable(
   test_optimization
   ./optimization/test_optimization_base.cpp
-  ./optimization/test_optimization_0.cpp 
+  ./optimization/test_optimization_0.cpp
   ./optimization/test_optimization_1.cpp
   ./optimization/test_optimization_cli.cpp
   ./optimization/test_optimization_payload.cpp
diff --git a/test/optimization/test_optimization_1.cpp b/test/optimization/test_optimization_1.cpp
index 5bc8ff4..6256972 100644
--- a/test/optimization/test_optimization_1.cpp
+++ b/test/optimization/test_optimization_1.cpp
@@ -121,7 +121,6 @@ BOOST_AUTO_TEST_CASE(t_method_time_opti) {
 BOOST_AUTO_TEST_CASE(t_method_time_opti2) {
   // do the same on bugtrap
 
-
   srand(0);
 
   Options_trajopt options_mpcc, options_mpc, options_search, options_dt;
@@ -197,8 +196,7 @@ BOOST_AUTO_TEST_CASE(t_method_time_opti2) {
       } else {
         BOOST_TEST_CHECK(result.feasible, experiment_id);
         std::cout << "cost is " << result.cost << std::endl;
-        if (!result.feasible)
-        {
+        if (!result.feasible) {
           throw -1;
         }
       }