diff --git a/libs/math/include/mrpt/math/math_frwds.h b/libs/math/include/mrpt/math/math_frwds.h
index 47dbe7b82f..2fa0adfa1e 100644
--- a/libs/math/include/mrpt/math/math_frwds.h
+++ b/libs/math/include/mrpt/math/math_frwds.h
@@ -24,7 +24,7 @@ template <typename PlainObjectType, int MapOptions, typename StrideType>
 class Map;
 template <int Value>
 class InnerStride;
-template <int Outter, int Inner>
+template <int Outer, int Inner>
 class Stride;
 template <
 	typename _Scalar, int _Rows, int _Cols, int _Options,
diff --git a/libs/nav/include/mrpt/nav/reactive/TWaypoint.h b/libs/nav/include/mrpt/nav/reactive/TWaypoint.h
index 96719403f1..708bbf4af5 100644
--- a/libs/nav/include/mrpt/nav/reactive/TWaypoint.h
+++ b/libs/nav/include/mrpt/nav/reactive/TWaypoint.h
@@ -91,9 +91,9 @@ struct TWaypointsRenderingParams
 {
 	TWaypointsRenderingParams();
 
-	double outter_radius{.3}, inner_radius{.2};
-	double outter_radius_non_skippable{.3}, inner_radius_non_skippable{.0};
-	double outter_radius_reached{.2}, inner_radius_reached{.1};
+	double outer_radius{.3}, inner_radius{.2};
+	double outer_radius_non_skippable{.3}, inner_radius_non_skippable{.0};
+	double outer_radius_reached{.2}, inner_radius_reached{.1};
 	double heading_arrow_len{1.0};
 	mrpt::img::TColor color_regular, color_current_goal, color_reached;
 	bool show_labels{true};
diff --git a/libs/nav/src/reactive/TWaypoint.cpp b/libs/nav/src/reactive/TWaypoint.cpp
index 12d607a33b..f50c8dbfe8 100644
--- a/libs/nav/src/reactive/TWaypoint.cpp
+++ b/libs/nav/src/reactive/TWaypoint.cpp
@@ -134,8 +134,8 @@ void TWaypointSequence::getAsOpenglVisualization(
 	for (const auto& p : waypoints)
 	{
 		auto gl_pt = mrpt::opengl::CDisk::Create(
-			p.allow_skip ? params.outter_radius
-						 : params.outter_radius_non_skippable,
+			p.allow_skip ? params.outer_radius
+						 : params.outer_radius_non_skippable,
 			p.allow_skip ? params.inner_radius
 						 : params.inner_radius_non_skippable,
 			15);
@@ -172,9 +172,9 @@ void TWaypointStatusSequence::getAsOpenglVisualization(
 			const bool is_cur_goal = (int(idx) == waypoint_index_current_goal);
 
 			mrpt::opengl::CDisk::Ptr gl_pt = mrpt::opengl::CDisk::Create(
-				p.reached ? params.outter_radius_reached
-						  : (p.allow_skip ? params.outter_radius
-										  : params.outter_radius_non_skippable),
+				p.reached ? params.outer_radius_reached
+						  : (p.allow_skip ? params.outer_radius
+										  : params.outer_radius_non_skippable),
 				p.reached ? params.inner_radius_reached
 						  : (p.allow_skip ? params.inner_radius
 										  : params.inner_radius_non_skippable),