diff --git a/src/core/include/pw/core/quaternion.hpp b/src/core/include/pw/core/quaternion.hpp
index 3ff5b1e..276ab77 100644
--- a/src/core/include/pw/core/quaternion.hpp
+++ b/src/core/include/pw/core/quaternion.hpp
@@ -53,8 +53,8 @@ template <std::floating_point Scalar> struct quaternion final {
         return std::forward<decltype(self)>(self).q_.w();
     }
 
-    constexpr auto
-    operator*(const quaternion& rhs) const noexcept -> quaternion {
+    constexpr auto operator*(const quaternion& rhs) const noexcept
+        -> quaternion {
         return {rhs.w() * x() + rhs.x() * w() + rhs.y() * z() - rhs.z() * y(),
                 rhs.w() * y() - rhs.x() * z() + rhs.y() * w() + rhs.z() * x(),
                 rhs.w() * z() + rhs.x() * y() - rhs.y() * x() + rhs.z() * w(),
@@ -130,9 +130,10 @@ template <std::floating_point Scalar> struct quaternion final {
     /**
      * @note: a and b need to be normalized
      */
-    static constexpr auto
-    slerp(const quaternion& a, const quaternion& b, const Scalar& t,
-          const Scalar& eps = Scalar{0.001}) -> quaternion {
+    static constexpr auto slerp(const quaternion& a, const quaternion& b,
+                                const Scalar& t,
+                                const Scalar& eps = Scalar{0.001})
+        -> quaternion {
 
         // Calculate angle between them.
         const Scalar cos_half_theta{a.dot(b)};
@@ -166,8 +167,8 @@ template <std::floating_point Scalar> struct quaternion final {
         };
     }
 
-    static constexpr auto
-    from_axisangle(const axisangle<Scalar>& aa) -> quaternion {
+    static constexpr auto from_axisangle(const axisangle<Scalar>& aa)
+        -> quaternion {
 
         const auto sin_half_angle{std::sin(aa.angle / Scalar{2})};
 
@@ -179,8 +180,8 @@ template <std::floating_point Scalar> struct quaternion final {
         };
     }
 
-    constexpr static auto
-    from_matrix(const matrix<Scalar, 3, 3>& m) -> quaternion {
+    constexpr static auto from_matrix(const matrix<Scalar, 3, 3>& m)
+        -> quaternion {
         const auto wtemp =
             std::sqrt(Scalar{1} + m[0][0] + m[1][1] + m[2][2]) / Scalar{2};
         const auto w4 = Scalar{4} * wtemp;