diff --git a/fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h b/fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
index 7470434e..dd6e7b3e 100644
--- a/fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
+++ b/fuse_constraints/include/fuse_constraints/normal_delta_orientation_3d_euler_cost_functor.h
@@ -91,7 +91,7 @@ class NormalDeltaOrientation3DEulerCostFunctor
   NormalDeltaOrientation3DEulerCostFunctor(
     const fuse_core::MatrixXd& A,
     const fuse_core::Vector3d& b,
-    const std::vector<Euler> &axes = {Euler::ROLL, Euler::PITCH, Euler::YAW});
+    const std::vector<Euler> &axes = {Euler::ROLL, Euler::PITCH, Euler::YAW});  // NOLINT(whitespace/braces)
 
   /**
    * @brief Evaluate the cost function. Used by the Ceres optimization engine.
diff --git a/fuse_models/include/fuse_models/common/sensor_config.h b/fuse_models/include/fuse_models/common/sensor_config.h
index 0ead8ad6..1702cf2d 100644
--- a/fuse_models/include/fuse_models/common/sensor_config.h
+++ b/fuse_models/include/fuse_models/common/sensor_config.h
@@ -237,7 +237,7 @@ std::vector<fuse_variables::Orientation3DStamped::Euler> toEulerEnumVector(const
   euler_indices.reserve(indices.size());
 
   std::transform(indices.begin(), indices.end(), std::back_inserter(euler_indices),
-                 [](int value) { return static_cast<Euler>(value + 4U); });
+                 [](int value) { return static_cast<Euler>(value + 4U); });  // NOLINT(whitespace/braces)
 
   return euler_indices;
 }
diff --git a/fuse_models/include/fuse_models/unicycle_3d_predict.h b/fuse_models/include/fuse_models/unicycle_3d_predict.h
index aabf2e5a..a59edbd3 100644
--- a/fuse_models/include/fuse_models/unicycle_3d_predict.h
+++ b/fuse_models/include/fuse_models/unicycle_3d_predict.h
@@ -666,13 +666,16 @@ inline void predict(
     acc_linear_z_pred,
     jacobians.data());
 
-  pose2.setOrigin(tf2::Vector3{x_pred, y_pred, z_pred});
+  pose2.setOrigin(tf2::Vector3{x_pred, y_pred, z_pred});  // NOLINT(whitespace/braces)
 
   Eigen::Quaterniond orientation2 = Eigen::AngleAxisd(yaw_pred, Eigen::Vector3d::UnitZ()) *
                                     Eigen::AngleAxisd(pitch_pred, Eigen::Vector3d::UnitY()) *
                                     Eigen::AngleAxisd(roll_pred, Eigen::Vector3d::UnitX());
 
-  pose2.setRotation({orientation2.x(), orientation2.y(), orientation2.z(), orientation2.w()});
+  pose2.setRotation({orientation2.x(),  // NOLINT(whitespace/braces)
+                     orientation2.y(),
+                     orientation2.z(),
+                     orientation2.w()});  // NOLINT(whitespace/braces)
 
   vel_linear2.setX(vel_linear_x_pred);
   vel_linear2.setY(vel_linear_y_pred);
@@ -776,7 +779,7 @@ inline void predict(
     acc_linear_y_pred,
     acc_linear_z_pred);
 
-  pose2.setOrigin(tf2::Vector3{x_pred, y_pred, z_pred});
+  pose2.setOrigin(tf2::Vector3{x_pred, y_pred, z_pred});  // NOLINT(whitespace/braces)
 
   Eigen::Quaterniond orientation_pred_q =
     Eigen::AngleAxisd(yaw_pred, Eigen::Vector3d::UnitZ()) *
diff --git a/fuse_models/test/test_unicycle_3d_predict.cpp b/fuse_models/test/test_unicycle_3d_predict.cpp
index bddabe6f..b7e5806b 100644
--- a/fuse_models/test/test_unicycle_3d_predict.cpp
+++ b/fuse_models/test/test_unicycle_3d_predict.cpp
@@ -162,8 +162,8 @@ TEST(Predict, predictDirectVals)
   EXPECT_DOUBLE_EQ(0.0, acc_linear2.z());
 
   // Out of plane motion
-  pose1.setOrigin({0.0, 0.0, 0.0});
-  pose1.setRotation({ 0.0, 0.0, 0.0, 1.0});
+  pose1.setOrigin({0.0, 0.0, 0.0});  // NOLINT(whitespace/braces)
+  pose1.setRotation({ 0.0, 0.0, 0.0, 1.0});  // NOLINT(whitespace/braces)
   vel_linear1 = {0.0, 0.0, 0.1};
   vel_angular1 = {1.570796327, 0.0, 0.0};
   acc_linear1 = {0.0, 0.0, 1.0};
@@ -199,8 +199,8 @@ TEST(Predict, predictDirectVals)
   EXPECT_DOUBLE_EQ(1.0, acc_linear2.z());
 
   // General 3D motion (these value are checked against rl predict() equations)
-  pose1.setOrigin({0.0, 0.0, 0.0});
-  pose1.setRotation({-0.003, -0.943, 0.314, 0.110});  // RPY {-2.490, -0.206, 3.066}
+  pose1.setOrigin({0.0, 0.0, 0.0});  // NOLINT(whitespace/braces)
+  pose1.setRotation({-0.003, -0.943, 0.314, 0.110});  // RPY {-2.490, -0.206, 3.066} NOLINT(whitespace/braces)
   vel_linear1 = {0.1, 0.2, 0.1};
   vel_angular1 = {1.570796327, 1.570796327, -1.570796327};
   acc_linear1 = {-0.5, 1.0, 1.0};