diff --git a/timing/timeRot3.cpp b/timing/timeRot3.cpp
index 00c02c250..3a6a156d5 100644
--- a/timing/timeRot3.cpp
+++ b/timing/timeRot3.cpp
@@ -23,33 +23,33 @@
 using namespace std;
 using namespace gtsam;
 
-#define TEST(TITLE,STATEMENT) \
-  cout << endl << TITLE << endl;\
-  timeLog = clock();\
-  for(int i = 0; i < n; i++)\
-  STATEMENT;\
-  timeLog2 = clock();\
-  seconds = (double)(timeLog2-timeLog)/CLOCKS_PER_SEC;\
-  cout << seconds << " seconds" << endl;\
-  cout << ((double)n/seconds) << " calls/second" << endl;
+#define TEST(TITLE, STATEMENT)                                        \
+  cout << endl << TITLE << endl;                                      \
+  timeLog = clock();                                                  \
+  for (int i = 0; i < n; i++) STATEMENT;                              \
+  timeLog2 = clock();                                                 \
+  seconds = static_cast<double>(timeLog2 - timeLog) / CLOCKS_PER_SEC; \
+  cout << 1000 * seconds << " milliseconds" << endl;                  \
+  cout << (1e9 * seconds / static_cast<double>(n)) << " nanosecs/call" << endl;
 
-int main()
-{
-  int n = 100000; long timeLog, timeLog2; double seconds;
+int main() {
+  int n = 100000;
+  clock_t timeLog, timeLog2;
+  double seconds;
   // create a random direction:
-  double norm=sqrt(1.0+16.0+4.0);
-  double x=1.0/norm, y=4.0/norm, z=2.0/norm;
+  double norm = sqrt(1.0 + 16.0 + 4.0);
+  double x = 1.0 / norm, y = 4.0 / norm, z = 2.0 / norm;
   Vector v = (Vector(3) << x, y, z).finished();
   Rot3 R = Rot3::Rodrigues(0.1, 0.4, 0.2), R2 = R.retract(v);
 
-  TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v,0.001))
+  TEST("Rodriguez formula given axis angle", Rot3::AxisAngle(v, 0.001))
   TEST("Rodriguez formula given canonical coordinates", Rot3::Rodrigues(v))
-  TEST("Expmap", R*Rot3::Expmap(v))
+  TEST("Expmap", R * Rot3::Expmap(v))
   TEST("Retract", R.retract(v))
   TEST("Logmap", Rot3::Logmap(R.between(R2)))
   TEST("localCoordinates", R.localCoordinates(R2))
-  TEST("Slow rotation matrix",Rot3::Rz(z)*Rot3::Ry(y)*Rot3::Rx(x))
-  TEST("Fast Rotation matrix", Rot3::RzRyRx(x,y,z))
+  TEST("Slow rotation matrix", Rot3::Rz(z) * Rot3::Ry(y) * Rot3::Rx(x))
+  TEST("Fast Rotation matrix", Rot3::RzRyRx(x, y, z))
 
   return 0;
 }