From 3dd37da51bd5540de56ad32ed8d40372d2fea023 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Mon, 23 Apr 2018 13:49:25 +0200
Subject: [PATCH] Move constraint_builders together. (#1103)

---
 cartographer/mapping/internal/2d/pose_graph_2d.cc    | 12 ++++++------
 cartographer/mapping/internal/2d/pose_graph_2d.h     |  4 ++--
 cartographer/mapping/internal/3d/pose_graph_3d.cc    |  4 ++--
 cartographer/mapping/internal/3d/pose_graph_3d.h     |  4 ++--
 .../constraint_builder.cc                            |  6 +++---
 .../{pose_graph => constraints}/constraint_builder.h | 10 +++++-----
 .../constraint_builder_2d.cc                         |  8 ++++----
 .../constraint_builder_2d.h                          | 12 ++++++------
 .../constraint_builder_2d_test.cc                    |  8 ++++----
 .../constraint_builder_3d.cc                         |  6 +++---
 .../constraint_builder_3d.h                          | 10 +++++-----
 .../constraint_builder_3d_test.cc                    |  8 ++++----
 cartographer/mapping/pose_graph.cc                   |  4 ++--
 .../proto/constraint_builder_options.proto           |  2 +-
 cartographer/mapping/proto/pose_graph_options.proto  |  2 +-
 cartographer/metrics/register.cc                     |  8 ++++----
 16 files changed, 54 insertions(+), 54 deletions(-)
 rename cartographer/mapping/internal/{pose_graph => constraints}/constraint_builder.cc (95%)
 rename cartographer/mapping/internal/{pose_graph => constraints}/constraint_builder.h (78%)
 rename cartographer/mapping/internal/{2d/pose_graph => constraints}/constraint_builder_2d.cc (98%)
 rename cartographer/mapping/internal/{2d/pose_graph => constraints}/constraint_builder_2d.h (95%)
 rename cartographer/mapping/internal/{2d/pose_graph => constraints}/constraint_builder_2d_test.cc (95%)
 rename cartographer/mapping/internal/{3d/pose_graph => constraints}/constraint_builder_3d.cc (99%)
 rename cartographer/mapping/internal/{3d/pose_graph => constraints}/constraint_builder_3d.h (96%)
 rename cartographer/mapping/internal/{3d/pose_graph => constraints}/constraint_builder_3d_test.cc (95%)

diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.cc b/cartographer/mapping/internal/2d/pose_graph_2d.cc
index 71b85ec..8764a7c 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.cc
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.cc
@@ -88,8 +88,8 @@ std::vector<SubmapId> PoseGraph2D::InitializeGlobalSubmapPoses(
     optimization_problem_->AddSubmap(
         trajectory_id,
         first_submap_pose *
-            pose_graph::ComputeSubmapPose(*insertion_submaps[0]).inverse() *
-            pose_graph::ComputeSubmapPose(*insertion_submaps[1]));
+            constraints::ComputeSubmapPose(*insertion_submaps[0]).inverse() *
+            constraints::ComputeSubmapPose(*insertion_submaps[1]));
     return {last_submap_id,
             SubmapId{trajectory_id, last_submap_id.submap_index + 1}};
   }
@@ -246,7 +246,7 @@ void PoseGraph2D::ComputeConstraintsForNode(
       transform::Rigid3d::Rotation(constant_data->gravity_alignment.inverse()));
   const transform::Rigid2d global_pose_2d =
       optimization_problem_->submap_data().at(matching_id).global_pose *
-      pose_graph::ComputeSubmapPose(*insertion_submaps.front()).inverse() *
+      constraints::ComputeSubmapPose(*insertion_submaps.front()).inverse() *
       local_pose_2d;
   optimization_problem_->AddTrajectoryNode(
       matching_id.trajectory_id,
@@ -260,7 +260,7 @@ void PoseGraph2D::ComputeConstraintsForNode(
     CHECK(submap_data_.at(submap_id).state == SubmapState::kActive);
     submap_data_.at(submap_id).node_ids.emplace(node_id);
     const transform::Rigid2d constraint_transform =
-        pose_graph::ComputeSubmapPose(*insertion_submaps[i]).inverse() *
+        constraints::ComputeSubmapPose(*insertion_submaps[i]).inverse() *
         local_pose_2d;
     constraints_.push_back(Constraint{submap_id,
                                       node_id,
@@ -328,7 +328,7 @@ void PoseGraph2D::UpdateTrajectoryConnectivity(const Constraint& constraint) {
 
 void PoseGraph2D::HandleWorkQueue() {
   constraint_builder_.WhenDone(
-      [this](const pose_graph::ConstraintBuilder2D::Result& result) {
+      [this](const constraints::ConstraintBuilder2D::Result& result) {
         {
           common::MutexLocker locker(&mutex_);
           constraints_.insert(constraints_.end(), result.begin(), result.end());
@@ -390,7 +390,7 @@ void PoseGraph2D::WaitForAllComputations() {
   std::cout << "\r\x1b[KOptimizing: Done.     " << std::endl;
   constraint_builder_.WhenDone(
       [this,
-       &notification](const pose_graph::ConstraintBuilder2D::Result& result) {
+       &notification](const constraints::ConstraintBuilder2D::Result& result) {
         common::MutexLocker locker(&mutex_);
         constraints_.insert(constraints_.end(), result.begin(), result.end());
         notification = true;
diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
index 5114300..3393d9f 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -33,7 +33,7 @@
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/2d/submap_2d.h"
-#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_2d.h"
 #include "cartographer/mapping/internal/optimization/optimization_problem_2d.h"
 #include "cartographer/mapping/internal/trajectory_connectivity_state.h"
 #include "cartographer/mapping/pose_graph.h"
@@ -240,7 +240,7 @@ class PoseGraph2D : public PoseGraph {
 
   // Current optimization problem.
   std::unique_ptr<optimization::OptimizationProblem2D> optimization_problem_;
-  pose_graph::ConstraintBuilder2D constraint_builder_ GUARDED_BY(mutex_);
+  constraints::ConstraintBuilder2D constraint_builder_ GUARDED_BY(mutex_);
   std::vector<Constraint> constraints_ GUARDED_BY(mutex_);
 
   // Submaps get assigned an ID and state as soon as they are seen, even
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.cc b/cartographer/mapping/internal/3d/pose_graph_3d.cc
index 4f96624..07eab26 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.cc
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.cc
@@ -343,7 +343,7 @@ void PoseGraph3D::UpdateTrajectoryConnectivity(const Constraint& constraint) {
 
 void PoseGraph3D::HandleWorkQueue() {
   constraint_builder_.WhenDone(
-      [this](const pose_graph::ConstraintBuilder3D::Result& result) {
+      [this](const constraints::ConstraintBuilder3D::Result& result) {
         {
           common::MutexLocker locker(&mutex_);
           constraints_.insert(constraints_.end(), result.begin(), result.end());
@@ -405,7 +405,7 @@ void PoseGraph3D::WaitForAllComputations() {
   std::cout << "\r\x1b[KOptimizing: Done.     " << std::endl;
   constraint_builder_.WhenDone(
       [this,
-       &notification](const pose_graph::ConstraintBuilder3D::Result& result) {
+       &notification](const constraints::ConstraintBuilder3D::Result& result) {
         common::MutexLocker locker(&mutex_);
         constraints_.insert(constraints_.end(), result.begin(), result.end());
         notification = true;
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h
index 4411010..251ecb1 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.h
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.h
@@ -33,7 +33,7 @@
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/3d/submap_3d.h"
-#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_3d.h"
 #include "cartographer/mapping/internal/optimization/optimization_problem_3d.h"
 #include "cartographer/mapping/internal/trajectory_connectivity_state.h"
 #include "cartographer/mapping/pose_graph.h"
@@ -244,7 +244,7 @@ class PoseGraph3D : public PoseGraph {
 
   // Current optimization problem.
   std::unique_ptr<optimization::OptimizationProblem3D> optimization_problem_;
-  pose_graph::ConstraintBuilder3D constraint_builder_ GUARDED_BY(mutex_);
+  constraints::ConstraintBuilder3D constraint_builder_ GUARDED_BY(mutex_);
   std::vector<Constraint> constraints_ GUARDED_BY(mutex_);
 
   // Submaps get assigned an ID and state as soon as they are seen, even
diff --git a/cartographer/mapping/internal/pose_graph/constraint_builder.cc b/cartographer/mapping/internal/constraints/constraint_builder.cc
similarity index 95%
rename from cartographer/mapping/internal/pose_graph/constraint_builder.cc
rename to cartographer/mapping/internal/constraints/constraint_builder.cc
index 52b0c88..21106bd 100644
--- a/cartographer/mapping/internal/pose_graph/constraint_builder.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder.h"
 
 #include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
 #include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
@@ -24,7 +24,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
     common::LuaParameterDictionary* const parameter_dictionary) {
@@ -58,6 +58,6 @@ proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
   return options;
 }
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/internal/pose_graph/constraint_builder.h b/cartographer/mapping/internal/constraints/constraint_builder.h
similarity index 78%
rename from cartographer/mapping/internal/pose_graph/constraint_builder.h
rename to cartographer/mapping/internal/constraints/constraint_builder.h
index 2bc3125..2c4e5e0 100644
--- a/cartographer/mapping/internal/pose_graph/constraint_builder.h
+++ b/cartographer/mapping/internal/constraints/constraint_builder.h
@@ -14,21 +14,21 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_POSE_GRAPH_CONSTRAINT_BUILDER_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_POSE_GRAPH_CONSTRAINT_BUILDER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 proto::ConstraintBuilderOptions CreateConstraintBuilderOptions(
     common::LuaParameterDictionary* parameter_dictionary);
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_POSE_GRAPH_CONSTRAINT_BUILDER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_H_
diff --git a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
similarity index 98%
rename from cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.cc
rename to cartographer/mapping/internal/constraints/constraint_builder_2d.cc
index 80898e5..78d2cac 100644
--- a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_2d.h"
 
 #include <cmath>
 #include <functional>
@@ -39,7 +39,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 static auto* kConstraintsSearchedMetric = metrics::Counter::Null();
 static auto* kConstraintsFoundMetric = metrics::Counter::Null();
@@ -54,7 +54,7 @@ transform::Rigid2d ComputeSubmapPose(const Submap2D& submap) {
 }
 
 ConstraintBuilder2D::ConstraintBuilder2D(
-    const pose_graph::proto::ConstraintBuilderOptions& options,
+    const constraints::proto::ConstraintBuilderOptions& options,
     common::ThreadPoolInterface* const thread_pool)
     : options_(options),
       thread_pool_(thread_pool),
@@ -328,6 +328,6 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
   kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}});
 }
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h b/cartographer/mapping/internal/constraints/constraint_builder_2d.h
similarity index 95%
rename from cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
rename to cartographer/mapping/internal/constraints/constraint_builder_2d.h
index 06649ad..b465154 100644
--- a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_2D_H_
 
 #include <array>
 #include <deque>
@@ -41,7 +41,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 // Returns (map <- submap) where 'submap' is a coordinate system at the origin
 // of the Submap.
@@ -138,7 +138,7 @@ class ConstraintBuilder2D {
   // runs the 'when_done_' callback and resets the state.
   void FinishComputation(int computation_index) EXCLUDES(mutex_);
 
-  const pose_graph::proto::ConstraintBuilderOptions options_;
+  const constraints::proto::ConstraintBuilderOptions options_;
   common::ThreadPoolInterface* thread_pool_;
   common::Mutex mutex_;
 
@@ -175,8 +175,8 @@ class ConstraintBuilder2D {
   common::Histogram score_histogram_ GUARDED_BY(mutex_);
 };
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_POSE_GRAPH_CONSTRAINT_BUILDER_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_2D_H_
diff --git a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d_test.cc b/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc
similarity index 95%
rename from cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d_test.cc
rename to cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc
index 70083f2..82e8deb 100644
--- a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d_test.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_2d_test.cc
@@ -14,20 +14,20 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_2d.h"
 
 #include <functional>
 
 #include "cartographer/common/internal/testing/thread_pool_for_testing.h"
 #include "cartographer/mapping/2d/submap_2d.h"
-#include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder.h"
 #include "cartographer/mapping/internal/testing/test_helpers.h"
 #include "gmock/gmock.h"
 #include "gtest/gtest.h"
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 namespace {
 
 class MockCallback {
@@ -103,6 +103,6 @@ TEST_F(ConstraintBuilder2DTest, FindsConstraints) {
 }
 
 }  // namespace
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
similarity index 99%
rename from cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.cc
rename to cartographer/mapping/internal/constraints/constraint_builder_3d.cc
index 7d244c2..001d53f 100644
--- a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_3d.h"
 
 #include <cmath>
 #include <functional>
@@ -39,7 +39,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 static auto* kConstraintsSearchedMetric = metrics::Counter::Null();
 static auto* kConstraintsFoundMetric = metrics::Counter::Null();
@@ -371,6 +371,6 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
       {{"search_region", "global"}, {"kind", "low_resolution_score"}});
 }
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h b/cartographer/mapping/internal/constraints/constraint_builder_3d.h
similarity index 96%
rename from cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
rename to cartographer/mapping/internal/constraints/constraint_builder_3d.h
index 77bbb14..fd3c1d3 100644
--- a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
-#define CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_3D_H_
 
 #include <array>
 #include <deque>
@@ -44,7 +44,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 
 // Asynchronously computes constraints.
 //
@@ -191,8 +191,8 @@ class ConstraintBuilder3D {
   common::Histogram low_resolution_score_histogram_ GUARDED_BY(mutex_);
 };
 
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_POSE_GRAPH_CONSTRAINT_BUILDER_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_CONSTRAINTS_CONSTRAINT_BUILDER_3D_H_
diff --git a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d_test.cc b/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc
similarity index 95%
rename from cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d_test.cc
rename to cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc
index e80b9f1..cf9e6d4 100644
--- a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d_test.cc
+++ b/cartographer/mapping/internal/constraints/constraint_builder_3d_test.cc
@@ -14,13 +14,13 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_3d.h"
 
 #include <functional>
 
 #include "cartographer/common/internal/testing/thread_pool_for_testing.h"
 #include "cartographer/mapping/3d/submap_3d.h"
-#include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder.h"
 #include "cartographer/mapping/internal/testing/test_helpers.h"
 #include "cartographer/mapping/pose_graph.h"
 #include "cartographer/transform/rigid_transform.h"
@@ -29,7 +29,7 @@
 
 namespace cartographer {
 namespace mapping {
-namespace pose_graph {
+namespace constraints {
 namespace {
 
 class MockCallback {
@@ -113,6 +113,6 @@ TEST_F(ConstraintBuilder3DTest, FindsConstraints) {
 }
 
 }  // namespace
-}  // namespace pose_graph
+}  // namespace constraints
 }  // namespace mapping
 }  // namespace cartographer
diff --git a/cartographer/mapping/pose_graph.cc b/cartographer/mapping/pose_graph.cc
index 8d8601b..fe2fad2 100644
--- a/cartographer/mapping/pose_graph.cc
+++ b/cartographer/mapping/pose_graph.cc
@@ -16,8 +16,8 @@
 
 #include "cartographer/mapping/pose_graph.h"
 
+#include "cartographer/mapping/internal/constraints/constraint_builder.h"
 #include "cartographer/mapping/internal/optimization/optimization_problem_options.h"
-#include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
@@ -75,7 +75,7 @@ proto::PoseGraphOptions CreatePoseGraphOptions(
   options.set_optimize_every_n_nodes(
       parameter_dictionary->GetInt("optimize_every_n_nodes"));
   *options.mutable_constraint_builder_options() =
-      pose_graph::CreateConstraintBuilderOptions(
+      constraints::CreateConstraintBuilderOptions(
           parameter_dictionary->GetDictionary("constraint_builder").get());
   options.set_matcher_translation_weight(
       parameter_dictionary->GetDouble("matcher_translation_weight"));
diff --git a/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
index 13f8f38..b4b0af8 100644
--- a/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
+++ b/cartographer/mapping/pose_graph/proto/constraint_builder_options.proto
@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-package cartographer.mapping.pose_graph.proto;
+package cartographer.mapping.constraints.proto;
 
 import "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto";
 import "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.proto";
diff --git a/cartographer/mapping/proto/pose_graph_options.proto b/cartographer/mapping/proto/pose_graph_options.proto
index 5de3a2a..a5fe889 100644
--- a/cartographer/mapping/proto/pose_graph_options.proto
+++ b/cartographer/mapping/proto/pose_graph_options.proto
@@ -25,7 +25,7 @@ message PoseGraphOptions {
   int32 optimize_every_n_nodes = 1;
 
   // Options for the constraint builder.
-  mapping.pose_graph.proto.ConstraintBuilderOptions
+  mapping.constraints.proto.ConstraintBuilderOptions
       constraint_builder_options = 3;
 
   // Weight used in the optimization problem for the translational component of
diff --git a/cartographer/metrics/register.cc b/cartographer/metrics/register.cc
index 283544d..5efcaea 100644
--- a/cartographer/metrics/register.cc
+++ b/cartographer/metrics/register.cc
@@ -17,17 +17,17 @@
 #include "cartographer/metrics/register.h"
 
 #include "cartographer/mapping/internal/2d/local_trajectory_builder_2d.h"
-#include "cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h"
 #include "cartographer/mapping/internal/3d/local_trajectory_builder_3d.h"
-#include "cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_2d.h"
+#include "cartographer/mapping/internal/constraints/constraint_builder_3d.h"
 #include "cartographer/mapping/internal/global_trajectory_builder.h"
 
 namespace cartographer {
 namespace metrics {
 
 void RegisterAllMetrics(FamilyFactory* registry) {
-  mapping::pose_graph::ConstraintBuilder2D::RegisterMetrics(registry);
-  mapping::pose_graph::ConstraintBuilder3D::RegisterMetrics(registry);
+  mapping::constraints::ConstraintBuilder2D::RegisterMetrics(registry);
+  mapping::constraints::ConstraintBuilder3D::RegisterMetrics(registry);
   mapping::GlobalTrajectoryBuilderRegisterMetrics(registry);
   mapping::LocalTrajectoryBuilder2D::RegisterMetrics(registry);
   mapping::LocalTrajectoryBuilder3D::RegisterMetrics(registry);