diff --git a/matrix/Euler.hpp b/matrix/Euler.hpp
index a309f1f3c9..fb339cdab5 100644
--- a/matrix/Euler.hpp
+++ b/matrix/Euler.hpp
@@ -42,11 +42,11 @@ public:
 
         if (fabs(theta() - M_PI_2) < 1.0e-3) {
             psi() = Type(atan2(dcm(1, 2) - dcm(0, 1),
-                        dcm(0, 2) + dcm(1, 1)));
+                               dcm(0, 2) + dcm(1, 1)));
 
         } else if (fabs(theta() + M_PI_2) < 1.0e-3) {
             psi() = Type(atan2(dcm(1, 2) - dcm(0, 1),
-                        dcm(0, 2) + dcm(1, 1)));
+                               dcm(0, 2) + dcm(1, 1)));
 
         } else {
             phi() = Type(atan2f(dcm(2, 1), dcm(2, 2)));
diff --git a/matrix/Quaternion.hpp b/matrix/Quaternion.hpp
index 68162118d4..06c8f9e11f 100644
--- a/matrix/Quaternion.hpp
+++ b/matrix/Quaternion.hpp
@@ -41,13 +41,13 @@ public:
     {
         Quaternion &q = *this;
         q(0) = Type(0.5 * sqrt(1 + dcm(0, 0) +
-                          dcm(1, 1) + dcm(2, 2)));
+                               dcm(1, 1) + dcm(2, 2)));
         q(1) = Type((dcm(2, 1) - dcm(1, 2)) /
-               (4 * q(0)));
+                    (4 * q(0)));
         q(2) = Type((dcm(0, 2) - dcm(2, 0)) /
-               (4 * q(0)));
+                    (4 * q(0)));
         q(3) = Type((dcm(1, 0) - dcm(0, 1)) /
-               (4 * q(0)));
+                    (4 * q(0)));
     }
 
     Quaternion(const Euler<Type> & euler) {