diff --git a/.clang-format b/.clang-format
index c3b72db7..b41fae91 100644
--- a/.clang-format
+++ b/.clang-format
@@ -4,6 +4,7 @@ BasedOnStyle: Google
 
 AccessModifierOffset: -2
 AlignAfterOpenBracket: AlwaysBreak
+AllowShortFunctionsOnASingleLine: InlineOnly
 BraceWrapping:
   AfterClass: true
   AfterFunction: true
diff --git a/autoware_utils/include/autoware_utils/math/unit_conversion.hpp b/autoware_utils/include/autoware_utils/math/unit_conversion.hpp
index 08098432..97db93fe 100644
--- a/autoware_utils/include/autoware_utils/math/unit_conversion.hpp
+++ b/autoware_utils/include/autoware_utils/math/unit_conversion.hpp
@@ -19,11 +19,25 @@
 
 namespace autoware_utils
 {
-constexpr double deg2rad(const double deg) { return deg * pi / 180.0; }
-constexpr double rad2deg(const double rad) { return rad * 180.0 / pi; }
+constexpr double deg2rad(const double deg)
+{
+  return deg * pi / 180.0;
+}
+
+constexpr double rad2deg(const double rad)
+{
+  return rad * 180.0 / pi;
+}
 
-constexpr double kmph2mps(const double kmph) { return kmph * 1000.0 / 3600.0; }
-constexpr double mps2kmph(const double mps) { return mps * 3600.0 / 1000.0; }
+constexpr double kmph2mps(const double kmph)
+{
+  return kmph * 1000.0 / 3600.0;
+}
+
+constexpr double mps2kmph(const double mps)
+{
+  return mps * 3600.0 / 1000.0;
+}
 }  // namespace autoware_utils
 
 #endif  // AUTOWARE_UTILS__MATH__UNIT_CONVERSION_HPP_
diff --git a/tmp/lanelet2_extension/lib/detection_area.cpp b/tmp/lanelet2_extension/lib/detection_area.cpp
index 54a38996..15905f63 100644
--- a/tmp/lanelet2_extension/lib/detection_area.cpp
+++ b/tmp/lanelet2_extension/lib/detection_area.cpp
@@ -120,7 +120,10 @@ ConstPolygons3d DetectionArea::detectionAreas() const
 {
   return getConstPoly(parameters(), RoleName::Refers);
 }
-Polygons3d DetectionArea::detectionAreas() { return getPoly(parameters(), RoleName::Refers); }
+Polygons3d DetectionArea::detectionAreas()
+{
+  return getPoly(parameters(), RoleName::Refers);
+}
 
 void DetectionArea::addDetectionArea(const Polygon3d & primitive)
 {
@@ -147,7 +150,10 @@ void DetectionArea::setStopLine(const LineString3d & stopLine)
   parameters()[RoleName::RefLine] = {stopLine};
 }
 
-void DetectionArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; }
+void DetectionArea::removeStopLine()
+{
+  parameters()[RoleName::RefLine] = {};
+}
 
 }  // namespace lanelet::autoware
 
diff --git a/tmp/lanelet2_extension/lib/mgrs_projector.cpp b/tmp/lanelet2_extension/lib/mgrs_projector.cpp
index d4e1ce79..891df1be 100644
--- a/tmp/lanelet2_extension/lib/mgrs_projector.cpp
+++ b/tmp/lanelet2_extension/lib/mgrs_projector.cpp
@@ -26,7 +26,9 @@
 
 namespace lanelet::projection
 {
-MGRSProjector::MGRSProjector(Origin origin) : Projector(origin) {}
+MGRSProjector::MGRSProjector(Origin origin) : Projector(origin)
+{
+}
 
 BasicPoint3d MGRSProjector::forward(const GPSPoint & gps) const
 {
@@ -105,7 +107,10 @@ GPSPoint MGRSProjector::reverse(const BasicPoint3d & mgrs_point, const std::stri
   return gps;
 }
 
-void MGRSProjector::setMGRSCode(const std::string & mgrs_code) { mgrs_code_ = mgrs_code; }
+void MGRSProjector::setMGRSCode(const std::string & mgrs_code)
+{
+  mgrs_code_ = mgrs_code;
+}
 
 void MGRSProjector::setMGRSCode(const GPSPoint & gps, const int precision)
 {
diff --git a/tmp/lanelet2_extension/lib/no_stopping_area.cpp b/tmp/lanelet2_extension/lib/no_stopping_area.cpp
index 3d83a03c..bf8b856e 100644
--- a/tmp/lanelet2_extension/lib/no_stopping_area.cpp
+++ b/tmp/lanelet2_extension/lib/no_stopping_area.cpp
@@ -120,7 +120,10 @@ ConstPolygons3d NoStoppingArea::noStoppingAreas() const
 {
   return getConstPoly(parameters(), RoleName::Refers);
 }
-Polygons3d NoStoppingArea::noStoppingAreas() { return getPoly(parameters(), RoleName::Refers); }
+Polygons3d NoStoppingArea::noStoppingAreas()
+{
+  return getPoly(parameters(), RoleName::Refers);
+}
 
 void NoStoppingArea::addNoStoppingArea(const Polygon3d & primitive)
 {
@@ -147,7 +150,10 @@ void NoStoppingArea::setStopLine(const LineString3d & stopLine)
   parameters()[RoleName::RefLine] = {stopLine};
 }
 
-void NoStoppingArea::removeStopLine() { parameters()[RoleName::RefLine] = {}; }
+void NoStoppingArea::removeStopLine()
+{
+  parameters()[RoleName::RefLine] = {};
+}
 
 }  // namespace lanelet::autoware
 
diff --git a/tmp/lanelet2_extension/lib/road_marking.cpp b/tmp/lanelet2_extension/lib/road_marking.cpp
index fd2a2023..7968fa6b 100644
--- a/tmp/lanelet2_extension/lib/road_marking.cpp
+++ b/tmp/lanelet2_extension/lib/road_marking.cpp
@@ -70,7 +70,10 @@ void RoadMarking::setRoadMarking(const LineString3d & road_marking)
   parameters()[RoleName::Refers] = {road_marking};
 }
 
-void RoadMarking::removeRoadMarking() { parameters()[RoleName::Refers] = {}; }
+void RoadMarking::removeRoadMarking()
+{
+  parameters()[RoleName::Refers] = {};
+}
 
 }  // namespace lanelet::autoware
 
diff --git a/tmp/lanelet2_extension/lib/speed_bump.cpp b/tmp/lanelet2_extension/lib/speed_bump.cpp
index 543dd847..35d3bc32 100644
--- a/tmp/lanelet2_extension/lib/speed_bump.cpp
+++ b/tmp/lanelet2_extension/lib/speed_bump.cpp
@@ -100,7 +100,10 @@ ConstPolygon3d SpeedBump::speedBump() const
   return getConstPoly(parameters(), RoleName::Refers).front();
 }
 
-Polygon3d SpeedBump::speedBump() { return getPoly(parameters(), RoleName::Refers).front(); }
+Polygon3d SpeedBump::speedBump()
+{
+  return getPoly(parameters(), RoleName::Refers).front();
+}
 
 void SpeedBump::addSpeedBump(const Polygon3d & primitive)
 {