diff --git a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
index 938fa29dc3..8c887c27a1 100644
--- a/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
+++ b/moveit_core/trajectory_processing/test/test_time_optimal_trajectory_generation.cpp
@@ -416,49 +416,48 @@ TEST(time_optimal_trajectory_generation, test_totg_with_torque_limits)
   // Request a trajectory. This will serve as the baseline.
   // Then decrease the joint torque limits and re-parameterize. The trajectory duration should be shorter.
 
-  const std::string urdf =
-      "<?xml version=\"1.0\" ?>"
-      "<robot name=\"one_robot\">"
-      "<link name=\"base_link\">"
-      "  <collision>"
-      "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
-      "    <geometry>"
-      "      <box size=\"1 2 1\" />"
-      "    </geometry>"
-      "  </collision>"
-      "  <visual>"
-      "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
-      "    <geometry>"
-      "      <box size=\"1 2 1\" />"
-      "    </geometry>"
-      "  </visual>"
-      "</link>"
-      "<joint name=\"joint_a\" type=\"continuous\">"
-      "   <axis xyz=\"0.7071 0.7071 0\"/>"
-      "   <parent link=\"base_link\"/>"
-      "   <child link=\"link_a\"/>"
-      "   <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
-      "</joint>"
-      "<link name=\"link_a\">"
-      "  <inertial>"
-      "    <mass value=\"1000.0\"/>"
-      "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
-      "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
-      "  </inertial>"
-      "  <collision>"
-      "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
-      "    <geometry>"
-      "      <box size=\"1 2 1\" />"
-      "    </geometry>"
-      "  </collision>"
-      "  <visual>"
-      "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
-      "    <geometry>"
-      "      <box size=\"1 2 1\" />"
-      "    </geometry>"
-      "  </visual>"
-      "</link>"
-      "</robot>";
+  const std::string urdf = "<?xml version=\"1.0\" ?>"
+                           "<robot name=\"one_robot\">"
+                           "<link name=\"base_link\">"
+                           "  <collision>"
+                           "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
+                           "    <geometry>"
+                           "      <box size=\"1 2 1\" />"
+                           "    </geometry>"
+                           "  </collision>"
+                           "  <visual>"
+                           "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
+                           "    <geometry>"
+                           "      <box size=\"1 2 1\" />"
+                           "    </geometry>"
+                           "  </visual>"
+                           "</link>"
+                           "<joint name=\"joint_a\" type=\"continuous\">"
+                           "   <axis xyz=\"0.7071 0.7071 0\"/>"
+                           "   <parent link=\"base_link\"/>"
+                           "   <child link=\"link_a\"/>"
+                           "   <origin rpy=\" 0.0 0 0 \" xyz=\"0.0 0 0 \"/>"
+                           "</joint>"
+                           "<link name=\"link_a\">"
+                           "  <inertial>"
+                           "    <mass value=\"1000.0\"/>"
+                           "    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 .0\"/>"
+                           "    <inertia ixx=\"0.1\" ixy=\"-0.2\" ixz=\"0.5\" iyy=\"-.09\" iyz=\"1\" izz=\"0.101\"/>"
+                           "  </inertial>"
+                           "  <collision>"
+                           "    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>"
+                           "    <geometry>"
+                           "      <box size=\"1 2 1\" />"
+                           "    </geometry>"
+                           "  </collision>"
+                           "  <visual>"
+                           "    <origin rpy=\"0 0 0\" xyz=\"0.0 0 0\"/>"
+                           "    <geometry>"
+                           "      <box size=\"1 2 1\" />"
+                           "    </geometry>"
+                           "  </visual>"
+                           "</link>"
+                           "</robot>";
 
   const std::string srdf =
       "<?xml version=\"1.0\" ?>"
@@ -493,33 +492,25 @@ TEST(time_optimal_trajectory_generation, test_totg_with_torque_limits)
     gravity.z = -9.81;
     return gravity;
   }();
-  const std::vector<double> joint_torque_limits{ 250 }; // in N*m
+  const std::vector<double> joint_torque_limits{ 250 };  // in N*m
   const double accel_limit_decrement_factor = 0.1;
-  const std::unordered_map<std::string, double> velocity_limits = {{"joint_a", 3}};
-  const std::unordered_map<std::string, double> acceleration_limits = {{"joint_a", 3}};
+  const std::unordered_map<std::string, double> velocity_limits = { { "joint_a", 3 } };
+  const std::unordered_map<std::string, double> acceleration_limits = { { "joint_a", 3 } };
 
   TimeOptimalTrajectoryGeneration totg(0.1 /* path tolerance */, 0.01 /* resample dt */, 0.001 /* min angle change */);
-  bool totg_success = totg.computeTimeStampsWithTorqueLimits(trajectory,
-                                                             gravity_vector,
-                                                             joint_torque_limits,
-                                                             accel_limit_decrement_factor,
-                                                             velocity_limits,
-                                                             acceleration_limits,
-                                                             1.0 /* accel scaling */,
-                                                             1.0 /* vel scaling */);
+  bool totg_success =
+      totg.computeTimeStampsWithTorqueLimits(trajectory, gravity_vector, joint_torque_limits,
+                                             accel_limit_decrement_factor, velocity_limits, acceleration_limits,
+                                             1.0 /* accel scaling */, 1.0 /* vel scaling */);
   ASSERT_TRUE(totg_success) << "Failed to compute timestamps";
   double first_duration = trajectory.getDuration();
 
   // Now decrease joint torque limits and re-time-parameterize. The trajectory duration should be longer.
-  const std::vector<double> lower_torque_limits{ 1 }; // in N*m
-  totg_success = totg.computeTimeStampsWithTorqueLimits(trajectory,
-                                                             gravity_vector,
-                                                             lower_torque_limits,
-                                                             accel_limit_decrement_factor,
-                                                             velocity_limits,
-                                                             acceleration_limits,
-                                                             1.0 /* accel scaling */,
-                                                             1.0 /* vel scaling */);
+  const std::vector<double> lower_torque_limits{ 1 };  // in N*m
+  totg_success =
+      totg.computeTimeStampsWithTorqueLimits(trajectory, gravity_vector, lower_torque_limits,
+                                             accel_limit_decrement_factor, velocity_limits, acceleration_limits,
+                                             1.0 /* accel scaling */, 1.0 /* vel scaling */);
   ASSERT_TRUE(totg_success) << "Failed to compute timestamps";
   double second_duration = trajectory.getDuration();
   EXPECT_GT(second_duration, first_duration) << "The second time parameterization should result in a longer duration";