diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 9acec685a3409a6a6caa6ade4f640f3149e1fce1..974c49d79ec443ca756c39d6d915da4258bf5bf7 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -13,7 +13,7 @@ repos:
     hooks:
     - id: cmake-format
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v14.0.6
+    rev: v15.0.7
     hooks:
     -   id: clang-format
         args: ['--style={BasedOnStyle: Google,SortIncludes: false}']
diff --git a/include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx b/include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
index e7111060ceaf7143bbe11d06a9f12d93e98984f3..a20644f78219532851f4b3910567cd7831761d5c 100644
--- a/include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
+++ b/include/tsid/solvers/solver-HQP-eiquadprog-rt.hxx
@@ -65,9 +65,9 @@ const HQPOutput& SolverHQuadProgRT<nVars, nEqCon, nIneqCon>::solve(
     const HQPData& problemData) {
   using namespace tsid::math;
 
-  //#ifndef EIGEN_RUNTIME_NO_MALLOC
-  //  Eigen::internal::set_is_malloc_allowed(false);
-  //#endif
+  // #ifndef EIGEN_RUNTIME_NO_MALLOC
+  //   Eigen::internal::set_is_malloc_allowed(false);
+  // #endif
 
   START_PROFILER_EIQUADPROG_RT(PROFILE_EIQUADPROG_PREPARATION);
 
@@ -165,9 +165,9 @@ const HQPOutput& SolverHQuadProgRT<nVars, nEqCon, nIneqCon>::solve(
 
   m_output.x = sol;
 
-  //#ifndef EIGEN_RUNTIME_NO_MALLOC
-  //  Eigen::internal::set_is_malloc_allowed(true);
-  //#endif
+  // #ifndef EIGEN_RUNTIME_NO_MALLOC
+  //   Eigen::internal::set_is_malloc_allowed(true);
+  // #endif
 
   if (status == eisol::RT_EIQUADPROG_OPTIMAL) {
     m_output.status = HQP_STATUS_OPTIMAL;
diff --git a/include/tsid/utils/stop-watch.hpp b/include/tsid/utils/stop-watch.hpp
index 3ad856fa23a00f028f34424fe99cfd6685cebdcf..ec3459e9744ad3f2bbc21116d2ea2b5d7f04485d 100644
--- a/include/tsid/utils/stop-watch.hpp
+++ b/include/tsid/utils/stop-watch.hpp
@@ -34,8 +34,8 @@ WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 #pragma GCC visibility push(default)
 #endif
 
-//#define START_PROFILER(name)
-//#define STOP_PROFILER(name)
+// #define START_PROFILER(name)
+// #define STOP_PROFILER(name)
 #define START_PROFILER(name) getProfiler().start(name)
 #define STOP_PROFILER(name) getProfiler().stop(name)
 
diff --git a/src/solvers/solver-HQP-eiquadprog-fast.cpp b/src/solvers/solver-HQP-eiquadprog-fast.cpp
index 832d6333c9f75733d8e4b550d35f7a3488fd8cc8..7a2fec9a17f49911bb7d9828f8055278a5d74637 100644
--- a/src/solvers/solver-HQP-eiquadprog-fast.cpp
+++ b/src/solvers/solver-HQP-eiquadprog-fast.cpp
@@ -20,7 +20,7 @@
 #include "eiquadprog/eiquadprog-fast.hpp"
 #include "tsid/utils/stop-watch.hpp"
 
-//#define PROFILE_EIQUADPROG_FAST
+// #define PROFILE_EIQUADPROG_FAST
 
 using namespace eiquadprog::solvers;
 
diff --git a/src/solvers/solver-HQP-eiquadprog.cpp b/src/solvers/solver-HQP-eiquadprog.cpp
index 44d8512ca7ad424447d3027e88d6d147833f2965..2d3fef67f3836d370db468c63c86788a50378022 100644
--- a/src/solvers/solver-HQP-eiquadprog.cpp
+++ b/src/solvers/solver-HQP-eiquadprog.cpp
@@ -218,14 +218,14 @@ void SolverHQuadProg::retrieveQPData(const HQPData& problemData,
 }
 
 const HQPOutput& SolverHQuadProg::solve(const HQPData& problemData) {
-  //#ifndef NDEBUG
-  //  PRINT_MATRIX(m_qpData.H);
-  //  PRINT_VECTOR(m_qpData.g);
-  //  PRINT_MATRIX(m_qpData.CE);
-  //  PRINT_VECTOR(m_qpData.ce0);
-  //  PRINT_MATRIX(m_qpData.CI);
-  //  PRINT_VECTOR(m_qpData.ci0);
-  //#endif
+  // #ifndef NDEBUG
+  //   PRINT_MATRIX(m_qpData.H);
+  //   PRINT_VECTOR(m_qpData.g);
+  //   PRINT_MATRIX(m_qpData.CE);
+  //   PRINT_VECTOR(m_qpData.ce0);
+  //   PRINT_MATRIX(m_qpData.CI);
+  //   PRINT_VECTOR(m_qpData.ci0);
+  // #endif
   SolverHQuadProg::retrieveQPData(problemData);
 
   //  min 0.5 * x G x + g0 x