From 29875117b373a9cced05618b2d970ad32957ab60 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Tue, 27 Feb 2018 16:25:53 +0100
Subject: [PATCH] Move internal/mapping to mapping/internal. (#941)

---
 CMakeLists.txt                                         |  3 +--
 .../mapping/2d/local_trajectory_builder_options_2d.cc  |  2 +-
 .../mapping/2d/scan_matching/ceres_scan_matcher_2d.cc  |  2 +-
 .../mapping/3d/local_trajectory_builder_options_3d.cc  |  2 +-
 .../mapping/3d/pose_graph/optimization_problem_3d.cc   |  4 ++--
 .../mapping/3d/scan_matching/ceres_scan_matcher_3d.cc  |  2 +-
 .../internal}/2d/local_trajectory_builder_2d.cc        |  2 +-
 .../internal}/2d/local_trajectory_builder_2d.h         |  8 ++++----
 .../2d/scan_matching/occupied_space_cost_function_2d.h |  6 +++---
 .../internal}/3d/acceleration_cost_function_3d.h       |  6 +++---
 .../internal}/3d/local_trajectory_builder_3d.cc        |  2 +-
 .../internal}/3d/local_trajectory_builder_3d.h         |  8 ++++----
 .../internal}/3d/local_trajectory_builder_3d_test.cc   |  2 +-
 .../internal}/3d/rotation_cost_function_3d.h           |  6 +++---
 .../3d/scan_matching/occupied_space_cost_function_3d.h |  6 +++---
 .../internal}/global_trajectory_builder.cc             |  2 +-
 .../internal}/global_trajectory_builder.h              | 10 +++++-----
 .../mapping => mapping/internal}/motion_filter.cc      |  2 +-
 .../mapping => mapping/internal}/motion_filter.h       |  6 +++---
 .../mapping => mapping/internal}/motion_filter_test.cc |  2 +-
 .../mapping => mapping/internal}/test_helpers.cc       |  2 +-
 .../mapping => mapping/internal}/test_helpers.h        |  6 +++---
 cartographer/mapping/map_builder.cc                    |  6 +++---
 cartographer/mapping/map_builder_test.cc               |  2 +-
 cartographer_grpc/client_server_test.cc                |  2 +-
 25 files changed, 50 insertions(+), 51 deletions(-)
 rename cartographer/{internal/mapping => mapping/internal}/2d/local_trajectory_builder_2d.cc (99%)
 rename cartographer/{internal/mapping => mapping/internal}/2d/local_trajectory_builder_2d.h (94%)
 rename cartographer/{internal/mapping => mapping/internal}/2d/scan_matching/occupied_space_cost_function_2d.h (96%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/acceleration_cost_function_3d.h (95%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/local_trajectory_builder_3d.cc (99%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/local_trajectory_builder_3d.h (93%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/local_trajectory_builder_3d_test.cc (99%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/rotation_cost_function_3d.h (93%)
 rename cartographer/{internal/mapping => mapping/internal}/3d/scan_matching/occupied_space_cost_function_3d.h (94%)
 rename cartographer/{internal/mapping => mapping/internal}/global_trajectory_builder.cc (98%)
 rename cartographer/{internal/mapping => mapping/internal}/global_trajectory_builder.h (83%)
 rename cartographer/{internal/mapping => mapping/internal}/motion_filter.cc (97%)
 rename cartographer/{internal/mapping => mapping/internal}/motion_filter.h (90%)
 rename cartographer/{internal/mapping => mapping/internal}/motion_filter_test.cc (98%)
 rename cartographer/{internal/mapping => mapping/internal}/test_helpers.cc (98%)
 rename cartographer/{internal/mapping => mapping/internal}/test_helpers.h (87%)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9161dd8..f41dd10 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -75,8 +75,7 @@ if (NOT ${BUILD_PROMETHEUS})
   list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_PROMETHEUS_FILES})
 endif()
 set(INSTALL_SOURCE_HDRS ${ALL_LIBRARY_HDRS})
-file(GLOB_RECURSE INTERNAL_HDRS "cartographer/internal/*.h"
-  "cartographer_grpc/internal/*.h")
+file(GLOB_RECURSE INTERNAL_HDRS "cartographer/*/internal/*.h")
 list(REMOVE_ITEM INSTALL_SOURCE_HDRS ${INTERNAL_HDRS})
 
 file(GLOB_RECURSE ALL_PROTOS "*.proto")
diff --git a/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc b/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc
index 6ec6f6e..0a590f5 100644
--- a/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc
+++ b/cartographer/mapping/2d/local_trajectory_builder_options_2d.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/mapping/2d/local_trajectory_builder_options_2d.h"
 
-#include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {
diff --git a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
index 69776d1..0169f59 100644
--- a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
+++ b/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
@@ -22,10 +22,10 @@
 #include "Eigen/Core"
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h"
 #include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h"
 #include "cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc b/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc
index efc464d..e964df9 100644
--- a/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc
+++ b/cartographer/mapping/3d/local_trajectory_builder_options_3d.cc
@@ -16,9 +16,9 @@
 
 #include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h"
 
-#include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/submap_3d.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc b/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc
index 5ce557f..4ee9c15 100644
--- a/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc
+++ b/cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc
@@ -30,12 +30,12 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/time.h"
-#include "cartographer/internal/mapping/3d/acceleration_cost_function_3d.h"
-#include "cartographer/internal/mapping/3d/rotation_cost_function_3d.h"
 #include "cartographer/mapping/3d/imu_integration.h"
 #include "cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h"
 #include "cartographer/mapping/3d/pose_graph/spa_cost_function_3d.h"
 #include "cartographer/mapping/3d/rotation_parameterization.h"
+#include "cartographer/mapping/internal/3d/acceleration_cost_function_3d.h"
+#include "cartographer/mapping/internal/3d/rotation_cost_function_3d.h"
 #include "cartographer/mapping/pose_graph/ceres_pose.h"
 #include "cartographer/transform/timestamped_transform.h"
 #include "cartographer/transform/transform.h"
diff --git a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
index 217eaff..366f314 100644
--- a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
+++ b/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
@@ -22,10 +22,10 @@
 
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h"
 #include "cartographer/mapping/3d/rotation_parameterization.h"
 #include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h"
 #include "cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h"
 #include "cartographer/mapping/pose_graph/ceres_pose.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
diff --git a/cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
similarity index 99%
rename from cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc
rename to cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
index 720dd65..1579158 100644
--- a/cartographer/internal/mapping/2d/local_trajectory_builder_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h"
+#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
 
 #include <limits>
 #include <memory>
diff --git a/cartographer/internal/mapping/2d/local_trajectory_builder_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
similarity index 94%
rename from cartographer/internal/mapping/2d/local_trajectory_builder_2d.h
rename to cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
index 2af72ec..509c99f 100644
--- a/cartographer/internal/mapping/2d/local_trajectory_builder_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
@@ -14,17 +14,17 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
 
 #include <memory>
 
 #include "cartographer/common/time.h"
-#include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h"
 #include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/pose_extrapolator.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
@@ -109,4 +109,4 @@ class LocalTrajectoryBuilder2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_LOCAL_TRAJECTORY_BUILDER_H_
diff --git a/cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h b/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
similarity index 96%
rename from cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
index 0f6836b..ee7fccb 100644
--- a/cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -126,4 +126,4 @@ class OccupiedSpaceCostFunction2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_H_
diff --git a/cartographer/internal/mapping/3d/acceleration_cost_function_3d.h b/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
similarity index 95%
rename from cartographer/internal/mapping/3d/acceleration_cost_function_3d.h
rename to cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
index bf37801..678a18d 100644
--- a/cartographer/internal/mapping/3d/acceleration_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_3D_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_ACCELERATION_COST_FUNCTION_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_ACCELERATION_COST_FUNCTION_3D_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -100,4 +100,4 @@ class AccelerationCostFunction3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_ACCELERATION_COST_FUNCTION_3D_H_
diff --git a/cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
similarity index 99%
rename from cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc
rename to cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
index f879a09..6d1bc7d 100644
--- a/cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h"
+#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
 
 #include <memory>
 
diff --git a/cartographer/internal/mapping/3d/local_trajectory_builder_3d.h b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
similarity index 93%
rename from cartographer/internal/mapping/3d/local_trajectory_builder_3d.h
rename to cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
index 11be07f..06bfc5b 100644
--- a/cartographer/internal/mapping/3d/local_trajectory_builder_3d.h
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
@@ -14,17 +14,17 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
 
 #include <memory>
 
 #include "cartographer/common/time.h"
-#include "cartographer/internal/mapping/motion_filter.h"
 #include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
 #include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/submap_3d.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/pose_extrapolator.h"
 #include "cartographer/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
@@ -97,4 +97,4 @@ class LocalTrajectoryBuilder3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_LOCAL_TRAJECTORY_BUILDER_3D_H_
diff --git a/cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
similarity index 99%
rename from cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc
rename to cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
index 2572e86..13b11d4 100644
--- a/cartographer/internal/mapping/3d/local_trajectory_builder_3d_test.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h"
+#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
 
 #include <memory>
 #include <random>
diff --git a/cartographer/internal/mapping/3d/rotation_cost_function_3d.h b/cartographer/mapping/internal/3d/rotation_cost_function_3d.h
similarity index 93%
rename from cartographer/internal/mapping/3d/rotation_cost_function_3d.h
rename to cartographer/mapping/internal/3d/rotation_cost_function_3d.h
index 78bdefe..1bd709e 100644
--- a/cartographer/internal/mapping/3d/rotation_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/rotation_cost_function_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_3D_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_COST_FUNCTION_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_COST_FUNCTION_3D_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -70,4 +70,4 @@ class RotationCostFunction {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_ROTATION_COST_FUNCTION_3D_H_
diff --git a/cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h b/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
similarity index 94%
rename from cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
index 52badba..594aaa1 100644
--- a/cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
 
 #include "Eigen/Core"
 #include "cartographer/mapping/3d/hybrid_grid.h"
@@ -88,4 +88,4 @@ class OccupiedSpaceCostFunction3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
diff --git a/cartographer/internal/mapping/global_trajectory_builder.cc b/cartographer/mapping/internal/global_trajectory_builder.cc
similarity index 98%
rename from cartographer/internal/mapping/global_trajectory_builder.cc
rename to cartographer/mapping/internal/global_trajectory_builder.cc
index a4e7be5..81e4a9b 100644
--- a/cartographer/internal/mapping/global_trajectory_builder.cc
+++ b/cartographer/mapping/internal/global_trajectory_builder.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/global_trajectory_builder.h"
+#include "cartographer/mapping/internal/global_trajectory_builder.h"
 
 #include <memory>
 
diff --git a/cartographer/internal/mapping/global_trajectory_builder.h b/cartographer/mapping/internal/global_trajectory_builder.h
similarity index 83%
rename from cartographer/internal/mapping/global_trajectory_builder.h
rename to cartographer/mapping/internal/global_trajectory_builder.h
index 39b7e43..db036b6 100644
--- a/cartographer/internal/mapping/global_trajectory_builder.h
+++ b/cartographer/mapping/internal/global_trajectory_builder.h
@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_GLOBAL_TRAJECTORY_BUILDER_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_GLOBAL_TRAJECTORY_BUILDER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_
 
 #include <memory>
 
-#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h"
-#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h"
 #include "cartographer/mapping/2d/pose_graph_2d.h"
 #include "cartographer/mapping/3d/pose_graph_3d.h"
+#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
+#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 
@@ -44,4 +44,4 @@ std::unique_ptr<TrajectoryBuilderInterface> CreateGlobalTrajectoryBuilder3D(
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_GLOBAL_TRAJECTORY_BUILDER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_GLOBAL_TRAJECTORY_BUILDER_H_
diff --git a/cartographer/internal/mapping/motion_filter.cc b/cartographer/mapping/internal/motion_filter.cc
similarity index 97%
rename from cartographer/internal/mapping/motion_filter.cc
rename to cartographer/mapping/internal/motion_filter.cc
index debb507..715b040 100644
--- a/cartographer/internal/mapping/motion_filter.cc
+++ b/cartographer/mapping/internal/motion_filter.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/motion_filter.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
diff --git a/cartographer/internal/mapping/motion_filter.h b/cartographer/mapping/internal/motion_filter.h
similarity index 90%
rename from cartographer/internal/mapping/motion_filter.h
rename to cartographer/mapping/internal/motion_filter.h
index 497c2ec..92f5480 100644
--- a/cartographer/internal/mapping/motion_filter.h
+++ b/cartographer/mapping/internal/motion_filter.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_MOTION_FILTER_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_MOTION_FILTER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_
 
 #include <limits>
 
@@ -51,4 +51,4 @@ class MotionFilter {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_MOTION_FILTER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_MOTION_FILTER_H_
diff --git a/cartographer/internal/mapping/motion_filter_test.cc b/cartographer/mapping/internal/motion_filter_test.cc
similarity index 98%
rename from cartographer/internal/mapping/motion_filter_test.cc
rename to cartographer/mapping/internal/motion_filter_test.cc
index 4f65714..7ecc2d8 100644
--- a/cartographer/internal/mapping/motion_filter_test.cc
+++ b/cartographer/mapping/internal/motion_filter_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/motion_filter.h"
+#include "cartographer/mapping/internal/motion_filter.h"
 
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "gmock/gmock.h"
diff --git a/cartographer/internal/mapping/test_helpers.cc b/cartographer/mapping/internal/test_helpers.cc
similarity index 98%
rename from cartographer/internal/mapping/test_helpers.cc
rename to cartographer/mapping/internal/test_helpers.cc
index 1f0fd68..c307131 100644
--- a/cartographer/internal/mapping/test_helpers.cc
+++ b/cartographer/mapping/internal/test_helpers.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping/test_helpers.h"
+#include "cartographer/mapping/internal/test_helpers.h"
 
 #include "cartographer/common/config.h"
 #include "cartographer/common/configuration_file_resolver.h"
diff --git a/cartographer/internal/mapping/test_helpers.h b/cartographer/mapping/internal/test_helpers.h
similarity index 87%
rename from cartographer/internal/mapping/test_helpers.h
rename to cartographer/mapping/internal/test_helpers.h
index 909e80a..2e90851 100644
--- a/cartographer/internal/mapping/test_helpers.h
+++ b/cartographer/mapping/internal/test_helpers.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
-#define CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_TEST_HELPERS_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_TEST_HELPERS_H_
 
 #include <memory>
 
@@ -37,4 +37,4 @@ GenerateFakeRangeMeasurements(double travel_distance, double duration,
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_INTERNAL_MAPPING_TEST_HELPERS_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_TEST_HELPERS_H_
diff --git a/cartographer/mapping/map_builder.cc b/cartographer/mapping/map_builder.cc
index 229f859..b0f4263 100644
--- a/cartographer/mapping/map_builder.cc
+++ b/cartographer/mapping/map_builder.cc
@@ -24,10 +24,10 @@
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
-#include "cartographer/internal/mapping/2d/local_trajectory_builder_2d.h"
-#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h"
-#include "cartographer/internal/mapping/global_trajectory_builder.h"
 #include "cartographer/mapping/collated_trajectory_builder.h"
+#include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
+#include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
+#include "cartographer/mapping/internal/global_trajectory_builder.h"
 #include "cartographer/sensor/collator.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/sensor/trajectory_collator.h"
diff --git a/cartographer/mapping/map_builder_test.cc b/cartographer/mapping/map_builder_test.cc
index dfb16c0..fbaec95 100644
--- a/cartographer/mapping/map_builder_test.cc
+++ b/cartographer/mapping/map_builder_test.cc
@@ -21,7 +21,7 @@
 #include <vector>
 
 #include "cartographer/common/config.h"
-#include "cartographer/internal/mapping/test_helpers.h"
+#include "cartographer/mapping/internal/test_helpers.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "gtest/gtest.h"
 
diff --git a/cartographer_grpc/client_server_test.cc b/cartographer_grpc/client_server_test.cc
index 0e4d52a..320053d 100644
--- a/cartographer_grpc/client_server_test.cc
+++ b/cartographer_grpc/client_server_test.cc
@@ -17,7 +17,7 @@
 #include <condition_variable>
 #include <mutex>
 
-#include "cartographer/internal/mapping/test_helpers.h"
+#include "cartographer/mapping/internal/test_helpers.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer_grpc/map_builder_server.h"
 #include "cartographer_grpc/map_builder_server_options.h"