diff --git a/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/waypoint.h b/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/waypoint.h
index 951a0f6aecb..1d9a8dc1827 100644
--- a/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/waypoint.h
+++ b/tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/core/waypoint.h
@@ -179,8 +179,7 @@ class CartesianWaypoint : public Waypoint
   }
 
   CartesianWaypoint(Eigen::Vector3d position, Eigen::Quaterniond orientation, std::string link = "")
-    : Waypoint(WaypointType::CARTESIAN_WAYPOINT)
-    , parent_link_(std::move(link))
+    : Waypoint(WaypointType::CARTESIAN_WAYPOINT), parent_link_(std::move(link))
   {
     cartesian_position_.translation() = position;
     cartesian_position_.linear() = orientation.toRotationMatrix();
@@ -210,7 +209,7 @@ class CartesianWaypoint : public Waypoint
 
 protected:
   Eigen::Isometry3d cartesian_position_; /** @brief Pose of this waypoint */
-  std::string parent_link_; /** @brief The link to which this position is defined */
+  std::string parent_link_;              /** @brief The link to which this position is defined */
 };
 
 /** @brief Defines a joint toleranced position waypoint for use with Tesseract Planners*/
diff --git a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_approach_generator.h b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_approach_generator.h
index f38a612cb30..d099cca77a5 100644
--- a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_approach_generator.h
+++ b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_approach_generator.h
@@ -33,7 +33,8 @@ class AxialApproachGenerator : public ProcessStepGenerator
 
       tesseract_motion_planners::CartesianWaypoint::Ptr new_waypoint =
           std::make_shared<tesseract_motion_planners::CartesianWaypoint>(
-              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction * scaled, cur_waypoint->getParentLinkName());
+              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction * scaled,
+              cur_waypoint->getParentLinkName());
       new_waypoint->setCoefficients(cur_waypoint->getCoefficients());
       new_waypoint->setIsCritical(cur_waypoint->isCritical());
       approach.push_back(new_waypoint);
diff --git a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_departure_generator.h b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_departure_generator.h
index b77b8547c27..1cf058e13f5 100644
--- a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_departure_generator.h
+++ b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/axial_departure_generator.h
@@ -33,7 +33,8 @@ class AxialDepartureGenerator : public ProcessStepGenerator
 
       tesseract_motion_planners::CartesianWaypoint::Ptr new_waypoint =
           std::make_shared<tesseract_motion_planners::CartesianWaypoint>(
-              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction * scaled, cur_waypoint->getParentLinkName());
+              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction * scaled,
+              cur_waypoint->getParentLinkName());
       new_waypoint->setCoefficients(cur_waypoint->getCoefficients());
       new_waypoint->setIsCritical(cur_waypoint->isCritical());
       departure.push_back(new_waypoint);
diff --git a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/passthrough_process_generator.h b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/passthrough_process_generator.h
index bd2a24bb623..690b9456757 100644
--- a/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/passthrough_process_generator.h
+++ b/tesseract/tesseract_planning/tesseract_process_planners/include/tesseract_process_planners/generators/passthrough_process_generator.h
@@ -24,7 +24,8 @@ class PassthroughProcessGenerator : public ProcessStepGenerator
           std::static_pointer_cast<tesseract_motion_planners::CartesianWaypoint>(waypoint);
       tesseract_motion_planners::CartesianWaypoint::Ptr new_waypoint =
           std::make_shared<tesseract_motion_planners::CartesianWaypoint>(
-              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction, cur_waypoint->getParentLinkName());
+              config.world_offset_direction * cur_waypoint->getTransform() * config.local_offset_direction,
+              cur_waypoint->getParentLinkName());
       new_waypoint->setCoefficients(cur_waypoint->getCoefficients());
       new_waypoint->setIsCritical(cur_waypoint->isCritical());
       new_waypoints.push_back(new_waypoint);