diff --git a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_loader.hpp b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_loader.hpp
index 6015616a34804..8cb3ec6987de3 100644
--- a/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_loader.hpp
+++ b/localization/ndt_scan_matcher/include/ndt_scan_matcher/map_loader.hpp
@@ -87,14 +87,14 @@ class MapLoader
   }
 
   // Wait for all running threads to finish
-  inline void sync() {
-    if (load_manager_future_.valid())
-    {
+  inline void sync()
+  {
+    if (load_manager_future_.valid()) {
       load_manager_future_.wait();
     }
 
-    for(auto &tf : thread_futures_) {
-      if(tf.valid()) {
+    for (auto & tf : thread_futures_) {
+      if (tf.valid()) {
         tf.wait();
       }
     }
@@ -128,13 +128,13 @@ class MapLoader
     // Loop until an idle thread is found
     while (true) {
       // Return immediately if a thread that has not been given a job is found
-      if(!thread_futures_[tid].valid()) {
+      if (!thread_futures_[tid].valid()) {
         last_check_tid_ = tid;
         return tid;
       }
 
       // If no such thread is found, wait for the current thread to finish its job
-      if(thread_futures_[tid].wait_for(span) == std::future_status::ready) {
+      if (thread_futures_[tid].wait_for(span) == std::future_status::ready) {
         last_check_tid_ = tid;
         return tid;
       }
diff --git a/localization/ndt_scan_matcher/src/map_loader.cpp b/localization/ndt_scan_matcher/src/map_loader.cpp
index 4769c8e359943..62569ada7f175 100644
--- a/localization/ndt_scan_matcher/src/map_loader.cpp
+++ b/localization/ndt_scan_matcher/src/map_loader.cpp
@@ -115,7 +115,8 @@ void MapLoader<PointT>::parallel_load_setup(
   query(x, y, radius, cached_ids, pcd_to_add_, pcd_to_remove_);
 
   // Start loading right now
-  load_manager_future_ = std::async(std::launch::async, &MapLoader<PointT>::loadManagerThread, this);
+  load_manager_future_ =
+    std::async(std::launch::async, &MapLoader<PointT>::loadManagerThread, this);
 }
 
 template <typename PointT>
diff --git a/localization/ndt_scan_matcher/src/utils.cpp b/localization/ndt_scan_matcher/src/utils.cpp
index f8b0f9a04781c..0e71cb23c22e4 100644
--- a/localization/ndt_scan_matcher/src/utils.cpp
+++ b/localization/ndt_scan_matcher/src/utils.cpp
@@ -64,10 +64,8 @@ void queryContainedSegmentIdx(
   auto ub = m.coordinateToSegmentIndex(upper_x, upper_y);
 
   // Loop on the candidate boundaries
-  for (float min_x = lb.x; min_x <= ub.x; min_x += m.res_x_)
-  {
-    for (float min_y = lb.y; min_y <= ub.y; min_y += m.res_y_)
-    {
+  for (float min_x = lb.x; min_x <= ub.x; min_x += m.res_x_) {
+    for (float min_y = lb.y; min_y <= ub.y; min_y += m.res_y_) {
       pcl::PointXYZ lower_bound, upper_bound;
 
       lower_bound.x = min_x;
@@ -75,8 +73,7 @@ void queryContainedSegmentIdx(
       upper_bound.x = min_x + m.res_x_;
       upper_bound.y = min_y + m.res_y_;
 
-      if (cylinderAndBoxOverlapExists(center_x, center_y, radius, lower_bound, upper_bound))
-      {
+      if (cylinderAndBoxOverlapExists(center_x, center_y, radius, lower_bound, upper_bound)) {
         map_id.push_back(m.coordinateToSegmentIndex(lower_bound.x, lower_bound.y));
       }
     }