diff --git a/doc/ImuFactor.lyx b/doc/ImuFactor.lyx
index 80c160e6e..7b176f484 100644
--- a/doc/ImuFactor.lyx
+++ b/doc/ImuFactor.lyx
@@ -82,7 +82,7 @@
 \begin_body
 
 \begin_layout Title
-The new IMU Factor
+The New IMU Factor
 \end_layout
 
 \begin_layout Author
diff --git a/gtsam/navigation/PreintegrationBase.cpp b/gtsam/navigation/PreintegrationBase.cpp
index 8840c34e9..f6e9fccb8 100644
--- a/gtsam/navigation/PreintegrationBase.cpp
+++ b/gtsam/navigation/PreintegrationBase.cpp
@@ -157,9 +157,9 @@ Vector9 PreintegrationBase::computeError(const NavState& state_i,
       state_j.localCoordinates(predictedState_j, H2 ? &D_error_state_j : 0,
                                H1 || H3 ? &D_error_predict : 0);
 
-  if (H1) *H1 << D_error_predict* D_predict_state_i;
+  if (H1) *H1 << D_error_predict * D_predict_state_i;
   if (H2) *H2 << D_error_state_j;
-  if (H3) *H3 << D_error_predict* D_predict_bias_i;
+  if (H3) *H3 << D_error_predict * D_predict_bias_i;
 
   return error;
 }