diff --git a/.clang-format b/.clang-format
index 28dedb8..9a6ec50 100644
--- a/.clang-format
+++ b/.clang-format
@@ -1,64 +1,75 @@
 ---
 BasedOnStyle:  Google
+ColumnLimit:    120
+MaxEmptyLinesToKeep: 1
+SortIncludes: false
+
+Standard:        Auto
+IndentWidth:     2
+TabWidth:        2
+UseTab:          Never
 AccessModifierOffset: -2
 ConstructorInitializerIndentWidth: 2
+NamespaceIndentation: None
+ContinuationIndentWidth: 4
+IndentCaseLabels: true
+IndentFunctionDeclarationAfterType: false
+
 AlignEscapedNewlinesLeft: false
 AlignTrailingComments: true
+
 AllowAllParametersOfDeclarationOnNextLine: false
+ExperimentalAutoDetectBinPacking: false
+ObjCSpaceBeforeProtocolList: true
+Cpp11BracedListStyle: false
+
+AllowShortBlocksOnASingleLine: true
 AllowShortIfStatementsOnASingleLine: false
 AllowShortLoopsOnASingleLine: false
 AllowShortFunctionsOnASingleLine: None
+AllowShortCaseLabelsOnASingleLine: false
+
 AlwaysBreakTemplateDeclarations: true
 AlwaysBreakBeforeMultilineStrings: false
 BreakBeforeBinaryOperators: false
 BreakBeforeTernaryOperators: false
 BreakConstructorInitializersBeforeComma: true
+
 BinPackParameters: true
-ColumnLimit:    120
 ConstructorInitializerAllOnOneLineOrOnePerLine: true
 DerivePointerBinding: false
 PointerBindsToType: true
-ExperimentalAutoDetectBinPacking: false
-IndentCaseLabels: true
-MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 60
+
+PenaltyExcessCharacter: 50
+PenaltyBreakBeforeFirstCallParameter: 30
+PenaltyBreakComment: 1000
+PenaltyBreakFirstLessLess: 10
 PenaltyBreakString: 100
-PenaltyBreakFirstLessLess: 1000
-PenaltyExcessCharacter: 1000
-PenaltyReturnTypeOnItsOwnLine: 70
+PenaltyReturnTypeOnItsOwnLine: 50
+
 SpacesBeforeTrailingComments: 2
-Cpp11BracedListStyle: false
-Standard:        Auto
-IndentWidth:     2
-TabWidth:        2
-UseTab:          Never
-IndentFunctionDeclarationAfterType: false
 SpacesInParentheses: false
 SpacesInAngles:  false
 SpaceInEmptyParentheses: false
 SpacesInCStyleCastParentheses: false
+SpaceAfterCStyleCast: false
 SpaceAfterControlStatementKeyword: true
 SpaceBeforeAssignmentOperators: true
-ContinuationIndentWidth: 4
-SortIncludes: false
-SpaceAfterCStyleCast: false
 
 # Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
 
 # Control of individual brace wrapping cases
 BraceWrapping:
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
+    AfterCaseLabel: true
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    AfterStruct: true
+    AfterUnion: true
+    BeforeCatch: true
+    BeforeElse: true
+    IndentBraces: false
 ...
diff --git a/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp b/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
index e51d8c0..ab9c223 100644
--- a/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
+++ b/moveit_calibration_gui/handeye_calibration_rviz_plugin/src/handeye_target_widget.cpp
@@ -350,8 +350,7 @@ bool TargetTabWidget::createTargetInstance()
       switch (param.parameter_type_)
       {
         case moveit_handeye_calibration::HandEyeTargetBase::Parameter::ParameterType::Int:
-          target_->setParameter(param.name_,
-                                static_cast<QLineEdit*>(target_param_inputs_[param.name_])->text().toInt());
+          target_->setParameter(param.name_, static_cast<QLineEdit*>(target_param_inputs_[param.name_])->text().toInt());
           break;
         case moveit_handeye_calibration::HandEyeTargetBase::Parameter::ParameterType::Float:
           target_->setParameter(param.name_,
diff --git a/moveit_calibration_plugins/handeye_calibration_target/include/moveit/handeye_calibration_target/handeye_target_base.h b/moveit_calibration_plugins/handeye_calibration_target/include/moveit/handeye_calibration_target/handeye_target_base.h
index 48dab2f..9bf89e9 100644
--- a/moveit_calibration_plugins/handeye_calibration_target/include/moveit/handeye_calibration_target/handeye_target_base.h
+++ b/moveit_calibration_plugins/handeye_calibration_target/include/moveit/handeye_calibration_target/handeye_target_base.h
@@ -115,8 +115,7 @@ class HandEyeTargetBase
   const std::size_t CAMERA_MATRIX_HEIGHT = 3;
   const std::map<std::string, std::size_t> CAMERA_DISTORTION_MODELS_VECTOR_DIMENSIONS = { { "none", 0 },
                                                                                           { "plumb_bob", 5 },
-                                                                                          { "rational_polynomial",
-                                                                                            8 } };
+                                                                                          { "rational_polynomial", 8 } };
 
   virtual ~HandEyeTargetBase() = default;
   HandEyeTargetBase()