diff --git a/cartographer/io/points_processor_pipeline_builder.cc b/cartographer/io/points_processor_pipeline_builder.cc
index e24bb80..e89d315 100644
--- a/cartographer/io/points_processor_pipeline_builder.cc
+++ b/cartographer/io/points_processor_pipeline_builder.cc
@@ -32,7 +32,8 @@ namespace cartographer {
 namespace io {
 
 template <typename PointsProcessorType>
-void RegisterPlainPointsProcessor(PointsProcessorPipelineBuilder* const builder) {
+void RegisterPlainPointsProcessor(
+    PointsProcessorPipelineBuilder* const builder) {
   builder->Register(
       PointsProcessorType::kConfigurationFileActionName,
       [](common::LuaParameterDictionary* const dictionary,
diff --git a/cartographer/mapping_2d/local_trajectory_builder.cc b/cartographer/mapping_2d/local_trajectory_builder.cc
index 23c8879..2fdd881 100644
--- a/cartographer/mapping_2d/local_trajectory_builder.cc
+++ b/cartographer/mapping_2d/local_trajectory_builder.cc
@@ -85,23 +85,22 @@ sensor::LaserFan LocalTrajectoryBuilder::TransformAndFilterLaserFan(
   for (const Eigen::Vector3f& return_ : laser_fan.returns) {
     const float range = (return_ - laser_fan.origin).norm();
     if (range >= options_.laser_min_range()) {
-        if (range <= options_.laser_max_range()) {
-          returns_and_misses.returns.push_back(return_);
-        } else {
-          returns_and_misses.misses.push_back(
-              laser_fan.origin +
-              options_.laser_missing_echo_ray_length() *
-                  (return_ - laser_fan.origin).normalized());
-        }
+      if (range <= options_.laser_max_range()) {
+        returns_and_misses.returns.push_back(return_);
+      } else {
+        returns_and_misses.misses.push_back(
+            laser_fan.origin +
+            options_.laser_missing_echo_ray_length() *
+                (return_ - laser_fan.origin).normalized());
+      }
     }
   }
   const sensor::LaserFan cropped = sensor::CropLaserFan(
       sensor::TransformLaserFan(returns_and_misses, tracking_to_tracking_2d),
       options_.laser_min_z(), options_.laser_max_z());
   return sensor::LaserFan{
-      cropped.origin,
-      sensor::VoxelFiltered(cropped.returns,
-                            options_.laser_voxel_filter_size()),
+      cropped.origin, sensor::VoxelFiltered(cropped.returns,
+                                            options_.laser_voxel_filter_size()),
       sensor::VoxelFiltered(cropped.misses,
                             options_.laser_voxel_filter_size())};
 }
diff --git a/cartographer/sensor/collator.cc b/cartographer/sensor/collator.cc
index d8b9e3c..14d440d 100644
--- a/cartographer/sensor/collator.cc
+++ b/cartographer/sensor/collator.cc
@@ -40,7 +40,7 @@ void Collator::FinishTrajectory(const int trajectory_id) {
 }
 
 void Collator::AddSensorData(const int trajectory_id, const string& sensor_id,
-                   std::unique_ptr<Data> data) {
+                             std::unique_ptr<Data> data) {
   queue_.Add(QueueKey{trajectory_id, sensor_id}, std::move(data));
 }
 
diff --git a/cartographer/sensor/ordered_multi_queue.h b/cartographer/sensor/ordered_multi_queue.h
index 30d7092..0c35f8d 100644
--- a/cartographer/sensor/ordered_multi_queue.h
+++ b/cartographer/sensor/ordered_multi_queue.h
@@ -161,8 +161,8 @@ class OrderedMultiQueue {
       // common start time has been reached.
       if (common_start_time_ == common::Time::min()) {
         for (auto& entry : queues_) {
-          common_start_time_ =
-              std::max(common_start_time_, entry.second.queue.Peek<Data>()->time);
+          common_start_time_ = std::max(common_start_time_,
+                                        entry.second.queue.Peek<Data>()->time);
         }
         LOG(INFO) << "All sensor data is available starting at '"
                   << common_start_time_ << "'.";