diff --git a/gtsam/inference/GenericSequentialSolver-inl.h b/gtsam/inference/GenericSequentialSolver-inl.h
index dbeb7769b..bd391bf46 100644
--- a/gtsam/inference/GenericSequentialSolver-inl.h
+++ b/gtsam/inference/GenericSequentialSolver-inl.h
@@ -27,83 +27,93 @@
 
 namespace gtsam {
 
-/* ************************************************************************* */
-template<class FACTOR>
-GenericSequentialSolver<FACTOR>::GenericSequentialSolver(const FactorGraph<FACTOR>& factorGraph) :
-    factors_(new FactorGraph<FACTOR>(factorGraph)), structure_(new VariableIndex(factorGraph)),
-    eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) {}
+	/* ************************************************************************* */
+	template<class FACTOR>
+	GenericSequentialSolver<FACTOR>::GenericSequentialSolver(//
+			const FactorGraph<FACTOR>& factorGraph) :
+		factors_(new FactorGraph<FACTOR> (factorGraph)), structure_(
+				new VariableIndex(factorGraph)), eliminationTree_(EliminationTree<
+				FACTOR>::Create(*factors_, *structure_)) {
+	}
 
-/* ************************************************************************* */
-template<class FACTOR>
-GenericSequentialSolver<FACTOR>::GenericSequentialSolver(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph,
-    const VariableIndex::shared_ptr& variableIndex) :
-    factors_(factorGraph), structure_(variableIndex),
-    eliminationTree_(EliminationTree<FACTOR>::Create(*factors_, *structure_)) {}
+	/* ************************************************************************* */
+	template<class FACTOR>
+	GenericSequentialSolver<FACTOR>::GenericSequentialSolver(
+			const typename FactorGraph<FACTOR>::shared_ptr& factorGraph,
+			const VariableIndex::shared_ptr& variableIndex) :
+		factors_(factorGraph), structure_(variableIndex), eliminationTree_(
+				EliminationTree<FACTOR>::Create(*factors_, *structure_)) {
+	}
 
-/* ************************************************************************* */
-template<class FACTOR>
-void GenericSequentialSolver<FACTOR>::replaceFactors(const typename FactorGraph<FACTOR>::shared_ptr& factorGraph) {
-  // Reset this shared pointer first to deallocate if possible - for big
-  // problems there may not be enough memory to store two copies.
-  eliminationTree_.reset();
-  factors_ = factorGraph;
-  eliminationTree_ = EliminationTree<FACTOR>::Create(*factors_, *structure_);
-}
+	/* ************************************************************************* */
+	template<class FACTOR>
+	void GenericSequentialSolver<FACTOR>::replaceFactors(
+			const typename FactorGraph<FACTOR>::shared_ptr& factorGraph) {
+		// Reset this shared pointer first to deallocate if possible - for big
+		// problems there may not be enough memory to store two copies.
+		eliminationTree_.reset();
+		factors_ = factorGraph;
+		eliminationTree_ = EliminationTree<FACTOR>::Create(*factors_, *structure_);
+	}
 
-/* ************************************************************************* */
-template<class FACTOR>
-typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr GenericSequentialSolver<FACTOR>::eliminate() const {
-  return eliminationTree_->eliminate();
-}
+	/* ************************************************************************* */
+	template<class FACTOR>
+	typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr //
+	GenericSequentialSolver<FACTOR>::eliminate() const {
+		return eliminationTree_->eliminate();
+	}
 
-/* ************************************************************************* */
-template<class FACTOR>
-typename FactorGraph<FACTOR>::shared_ptr GenericSequentialSolver<FACTOR>::jointFactorGraph(const std::vector<Index>& js) const {
+	/* ************************************************************************* */
+	template<class FACTOR>
+	typename FactorGraph<FACTOR>::shared_ptr //
+	GenericSequentialSolver<FACTOR>::jointFactorGraph(
+			const std::vector<Index>& js) const {
 
-  // Compute a COLAMD permutation with the marginal variable constrained to the end.
-  Permutation::shared_ptr permutation(Inference::PermutationCOLAMD(*structure_, js));
-  Permutation::shared_ptr permutationInverse(permutation->inverse());
+		// Compute a COLAMD permutation with the marginal variable constrained to the end.
+		Permutation::shared_ptr permutation(Inference::PermutationCOLAMD(
+				*structure_, js));
+		Permutation::shared_ptr permutationInverse(permutation->inverse());
 
-  // Permute the factors - NOTE that this permutes the original factors, not
-  // copies.  Other parts of the code may hold shared_ptr's to these factors so
-  // we must undo the permutation before returning.
-  BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_) {
-    if(factor)
-      factor->permuteWithInverse(*permutationInverse);
-  }
+		// Permute the factors - NOTE that this permutes the original factors, not
+		// copies.  Other parts of the code may hold shared_ptr's to these factors so
+		// we must undo the permutation before returning.
+		BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_)
+						if (factor) factor->permuteWithInverse(*permutationInverse);
 
-  // Eliminate all variables
-  typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr bayesNet(
-      EliminationTree<FACTOR>::Create(*factors_)->eliminate());
+		// Eliminate all variables
+		typename BayesNet<typename FACTOR::ConditionalType>::shared_ptr bayesNet(
+				EliminationTree<FACTOR>::Create(*factors_)->eliminate());
 
-  // Undo the permuation on the original factors and on the structure.
-  BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_) {
-    if(factor)
-      factor->permuteWithInverse(*permutation);
-  }
+		// Undo the permuation on the original factors and on the structure.
+		BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *factors_)
+						if (factor) factor->permuteWithInverse(*permutation);
 
-  // Take the joint marginal from the Bayes net.
-  typename FactorGraph<FACTOR>::shared_ptr joint(new FactorGraph<FACTOR>);
-  joint->reserve(js.size());
-  typename BayesNet<typename FACTOR::ConditionalType>::const_reverse_iterator conditional = bayesNet->rbegin();
-  for(size_t i = 0; i < js.size(); ++i) {
-    joint->push_back((*(conditional++))->toFactor()); }
+		// Take the joint marginal from the Bayes net.
+		typename FactorGraph<FACTOR>::shared_ptr joint(new FactorGraph<FACTOR> );
+		joint->reserve(js.size());
+		typename BayesNet<typename FACTOR::ConditionalType>::const_reverse_iterator
+				conditional = bayesNet->rbegin();
 
-  // Undo the permutation on the eliminated joint marginal factors
-  BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *joint) {
-    factor->permuteWithInverse(*permutation); }
+		for (size_t i = 0; i < js.size(); ++i)
+			joint->push_back((*(conditional++))->toFactor());
 
-  return joint;
-}
+		// Undo the permutation on the eliminated joint marginal factors
+		BOOST_FOREACH(const typename FACTOR::shared_ptr& factor, *joint)
+						factor->permuteWithInverse(*permutation);
 
-/* ************************************************************************* */
-template<class FACTOR>
-typename FACTOR::shared_ptr GenericSequentialSolver<FACTOR>::marginalFactor(Index j) const {
-  // Create a container for the one variable index
-  vector<Index> js(1); js[0] = j;
+		return joint;
+	}
 
-  // Call joint and return the only factor in the factor graph it returns
-  return (*this->jointFactorGraph(js))[0];
-}
+	/* ************************************************************************* */
+	template<class FACTOR>
+	typename FACTOR::shared_ptr //
+	GenericSequentialSolver<FACTOR>::marginalFactor(Index j) const {
+		// Create a container for the one variable index
+		vector<Index> js(1);
+		js[0] = j;
 
-}
+		// Call joint and return the only factor in the factor graph it returns
+		return (*this->jointFactorGraph(js))[0];
+	}
+
+} // namespace gtsam