Move mapping_*d to mapping/*d. (#935)

[Code structure RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0016-code-structure.md)

cartographer/internal/mapping/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/internal/mapping/2d/local_trajectory_builder_2d.h"
 
 #include <limits>
 #include <memory>

cartographer/internal/mapping/2d/local_trajectory_builder_2d.h

@@ -21,11 +21,11 @@
 
 #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/pose_extrapolator.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/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/range_data.h"

cartographer/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h

@@ -19,8 +19,8 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_2d/probability_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "ceres/ceres.h"
 #include "ceres/cubic_interpolation.h"

cartographer/internal/mapping/3d/local_trajectory_builder_3d.cc

@@ -14,17 +14,17 @@
  * limitations under the License.
  */
 
-#include "cartographer/internal/mapping_3d/local_trajectory_builder_3d.h"
+#include "cartographer/internal/mapping/3d/local_trajectory_builder_3d.h"
 
 #include <memory>
 
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
+#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
+#include "cartographer/mapping/3d/proto/submaps_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
-#include "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.pb.h"
-#include "cartographer/mapping_3d/proto/submaps_options_3d.pb.h"
-#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h"
 #include "glog/logging.h"
 
 namespace cartographer {

cartographer/internal/mapping/3d/local_trajectory_builder_3d.h

@@ -21,11 +21,11 @@
 
 #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/pose_extrapolator.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/sensor/imu_data.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/range_data.h"

cartographer/internal/mapping/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/internal/mapping/3d/local_trajectory_builder_3d.h"
 
 #include <memory>
 #include <random>
@@ -22,8 +22,8 @@
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/time.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h"
+#include "cartographer/mapping/3d/local_trajectory_builder_options_3d.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"

cartographer/internal/mapping/3d/scan_matching/occupied_space_cost_function_3d.h

@@ -18,8 +18,8 @@
 #define CARTOGRAPHER_INTERNAL_MAPPING_3D_SCAN_MATCHING_OCCUPIED_SPACE_COST_FUNCTION_3D_H_
 
 #include "Eigen/Core"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/scan_matching/interpolated_grid.h"
+#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"

cartographer/internal/mapping/global_trajectory_builder.h

@@ -19,12 +19,12 @@
 
 #include <memory>
 
-#include "cartographer/internal/mapping_2d/local_trajectory_builder_2d.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/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/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
-#include "cartographer/mapping_2d/pose_graph_2d.h"
-#include "cartographer/mapping_3d/pose_graph_3d.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/io/hybrid_grid_points_processor.cc

@@ -8,8 +8,8 @@
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_batch.h"
 #include "cartographer/io/points_processor.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/range_data_inserter_3d.h"
+#include "cartographer/mapping/3d/range_data_inserter_3d.h"
 #include "cartographer/sensor/range_data.h"
 #include "glog/logging.h"
 

cartographer/io/hybrid_grid_points_processor.h

@@ -9,9 +9,9 @@
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_batch.h"
 #include "cartographer/io/points_processor.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.h"
+#include "cartographer/mapping/3d/proto/range_data_inserter_options_3d.pb.h"
-#include "cartographer/mapping_3d/range_data_inserter_3d.h"
+#include "cartographer/mapping/3d/range_data_inserter_3d.h"
 
 namespace cartographer {
 namespace io {

cartographer/io/outlier_removing_points_processor.h

@@ -19,7 +19,7 @@
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/io/points_processor.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 
 namespace cartographer {
 namespace io {

cartographer/io/probability_grid_points_processor.h

@@ -23,10 +23,10 @@
 #include "cartographer/io/image.h"
 #include "cartographer/io/points_batch.h"
 #include "cartographer/io/points_processor.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 
 namespace cartographer {
 namespace io {

cartographer/io/submap_painter.cc

@@ -16,8 +16,8 @@
 
 #include "cartographer/io/submap_painter.h"
 
-#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
 
 namespace cartographer {
 namespace io {

cartographer/io/xray_points_processor.cc

@@ -25,8 +25,8 @@
 #include "cartographer/common/math.h"
 #include "cartographer/io/draw_trajectories.h"
 #include "cartographer/io/image.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/mapping/detect_floors.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
 #include "cartographer/transform/transform.h"
 
 namespace cartographer {

cartographer/io/xray_points_processor.h

@@ -23,9 +23,9 @@
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/io/file_writer.h"
 #include "cartographer/io/points_processor.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/mapping/detect_floors.h"
 #include "cartographer/mapping/proto/trajectory.pb.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
 #include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {

cartographer/mapping/2d/local_trajectory_builder_options_2d.cc

@@ -14,12 +14,12 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/local_trajectory_builder_options_2d.h"
+#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/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping_2d/scan_matching/real_time_correlative_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/2d/submap_2d.h"
 #include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {

cartographer/mapping/2d/local_trajectory_builder_options_2d.h

@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_2D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_2D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_2d/proto/local_trajectory_builder_options_2d.pb.h"
+#include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/2d/map_limits.h

@@ -23,9 +23,9 @@
 #include "Eigen/Core"
 #include "Eigen/Geometry"
 #include "cartographer/common/math.h"
+#include "cartographer/mapping/2d/proto/map_limits.pb.h"
+#include "cartographer/mapping/2d/xy_index.h"
 #include "cartographer/mapping/trajectory_node.h"
-#include "cartographer/mapping_2d/proto/map_limits.pb.h"
-#include "cartographer/mapping_2d/xy_index.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"

cartographer/mapping/2d/map_limits_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/map_limits.h"
+#include "cartographer/mapping/2d/map_limits.h"
 
 #include "gtest/gtest.h"
 

cartographer/mapping/2d/pose_graph/constraint_builder_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/pose_graph/constraint_builder_2d.h"
+#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h"
 
 #include <cmath>
 #include <functional>
@@ -29,8 +29,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h"
-#include "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/metrics/gauge.h"
 #include "cartographer/metrics/histogram.h"
@@ -307,7 +307,7 @@ void ConstraintBuilder2D::DeleteScanMatcher(const SubmapId& submap_id) {
 
 void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
   auto* counts = factory->NewCounterFamily(
-      "/mapping_2d/pose_graph/constraint_builder/constraints",
+      "/mapping/2d/pose_graph/constraint_builder/constraints",
       "Constraints computed");
   kConstraintsSearchedMetric =
       counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@@ -318,11 +318,11 @@ void ConstraintBuilder2D::RegisterMetrics(metrics::FamilyFactory* factory) {
   kGlobalConstraintsFoundMetric =
       counts->Add({{"search_region", "global"}, {"matcher", "found"}});
   auto* queue_length = factory->NewGaugeFamily(
-      "/mapping_2d/pose_graph/constraint_builder/queue_length", "Queue length");
+      "/mapping/2d/pose_graph/constraint_builder/queue_length", "Queue length");
   kQueueLengthMetric = queue_length->Add({{}});
   auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
   auto* scores = factory->NewHistogramFamily(
-      "/mapping_2d/pose_graph/constraint_builder/scores",
+      "/mapping/2d/pose_graph/constraint_builder/scores",
       "Constraint scores built", boundaries);
   kConstraintScoresMetric = scores->Add({{"search_region", "local"}});
   kGlobalConstraintScoresMetric = scores->Add({{"search_region", "global"}});

cartographer/mapping/2d/pose_graph/constraint_builder_2d.h

@@ -30,11 +30,11 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
+#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/pose_graph_interface.h"
-#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h"
-#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/voxel_filter.h"

cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h

@@ -19,9 +19,9 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h"
 #include "cartographer/mapping/pose_graph/cost_helpers.h"
 #include "cartographer/mapping/pose_graph_interface.h"
-#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"

cartographer/mapping/2d/pose_graph/landmark_cost_function_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h"
+#include "cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h"
 
 #include <memory>
 

cartographer/mapping/2d/pose_graph/optimization_problem_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h"
+#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h"
 
 #include <algorithm>
 #include <array>
@@ -27,9 +27,9 @@
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/histogram.h"
 #include "cartographer/common/math.h"
+#include "cartographer/mapping/2d/pose_graph/landmark_cost_function_2d.h"
+#include "cartographer/mapping/2d/pose_graph/spa_cost_function_2d.h"
 #include "cartographer/mapping/pose_graph/ceres_pose.h"
-#include "cartographer/mapping_2d/pose_graph/landmark_cost_function_2d.h"
-#include "cartographer/mapping_2d/pose_graph/spa_cost_function_2d.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"

cartographer/mapping/2d/pose_graph_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/pose_graph_2d.h"
+#include "cartographer/mapping/2d/pose_graph_2d.h"
 
 #include <algorithm>
 #include <cmath>

cartographer/mapping/2d/pose_graph_2d.h

@@ -32,12 +32,12 @@
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
+#include "cartographer/mapping/2d/pose_graph/constraint_builder_2d.h"
+#include "cartographer/mapping/2d/pose_graph/optimization_problem_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/mapping/pose_graph.h"
 #include "cartographer/mapping/pose_graph_trimmer.h"
 #include "cartographer/mapping/trajectory_connectivity_state.h"
-#include "cartographer/mapping_2d/pose_graph/constraint_builder_2d.h"
-#include "cartographer/mapping_2d/pose_graph/optimization_problem_2d.h"
-#include "cartographer/mapping_2d/submap_2d.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/landmark_data.h"
 #include "cartographer/sensor/odometry_data.h"

cartographer/mapping/2d/pose_graph_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/pose_graph_2d.h"
+#include "cartographer/mapping/2d/pose_graph_2d.h"
 
 #include <cmath>
 #include <memory>
@@ -24,8 +24,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
-#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"

cartographer/mapping/2d/probability_grid.cc

@@ -1,4 +1,4 @@
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 
 #include <limits>
 

cartographer/mapping/2d/probability_grid.h

@@ -20,9 +20,9 @@
 #include <vector>
 
 #include "cartographer/common/port.h"
-#include "cartographer/mapping_2d/map_limits.h"
+#include "cartographer/mapping/2d/map_limits.h"
-#include "cartographer/mapping_2d/proto/probability_grid.pb.h"
+#include "cartographer/mapping/2d/proto/probability_grid.pb.h"
-#include "cartographer/mapping_2d/xy_index.h"
+#include "cartographer/mapping/2d/xy_index.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/2d/probability_grid_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 
 #include <random>
 

cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.proto

@@ -18,8 +18,8 @@ package cartographer.mapping.proto;
 
 import "cartographer/mapping/proto/motion_filter_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
-import "cartographer/mapping_2d/proto/submaps_options_2d.proto";
+import "cartographer/mapping/2d/proto/submaps_options_2d.proto";
-import "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto";
+import "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.proto";
 import "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
 
 message LocalTrajectoryBuilderOptions2D {

cartographer/mapping/2d/proto/map_limits.proto

@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping_2d/proto/cell_limits.proto";
+import "cartographer/mapping/2d/proto/cell_limits.proto";
 import "cartographer/transform/proto/transform.proto";
 
 package cartographer.mapping.proto;

cartographer/mapping/2d/proto/probability_grid.proto

@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping_2d/proto/map_limits.proto";
+import "cartographer/mapping/2d/proto/map_limits.proto";
 
 package cartographer.mapping.proto;
 

cartographer/mapping/2d/proto/submaps_options_2d.proto

@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping_2d/proto/range_data_inserter_options_2d.proto";
+import "cartographer/mapping/2d/proto/range_data_inserter_options_2d.proto";
 
 package cartographer.mapping.proto;
 

cartographer/mapping/2d/range_data_inserter_2d.cc

@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 
 #include <cstdlib>
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "cartographer/mapping/2d/ray_casting.h"
+#include "cartographer/mapping/2d/xy_index.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_2d/ray_casting.h"
-#include "cartographer/mapping_2d/xy_index.h"
 #include "glog/logging.h"
 
 namespace cartographer {

cartographer/mapping/2d/range_data_inserter_2d.h

@@ -22,9 +22,9 @@
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/range_data_inserter_options_2d.pb.h"
+#include "cartographer/mapping/2d/proto/range_data_inserter_options_2d.pb.h"
-#include "cartographer/mapping_2d/xy_index.h"
+#include "cartographer/mapping/2d/xy_index.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 

cartographer/mapping/2d/range_data_inserter_2d_test.cc

@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 
 #include <memory>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_2d/probability_grid.h"
 #include "gmock/gmock.h"
 
 namespace cartographer {

cartographer/mapping/2d/ray_casting.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/ray_casting.h"
+#include "cartographer/mapping/2d/ray_casting.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/2d/ray_casting.h

@@ -20,7 +20,7 @@
 #include <vector>
 
 #include "cartographer/common/port.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/transform.h"

cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
 
 #include <utility>
 #include <vector>
@@ -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/internal/mapping/2d/scan_matching/occupied_space_cost_function_2d.h"
-#include "cartographer/mapping_2d/probability_grid.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/rotation_delta_cost_functor_2d.h"
-#include "cartographer/mapping_2d/scan_matching/translation_delta_cost_functor_2d.h"
+#include "cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"
 #include "glog/logging.h"

cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h

@@ -22,8 +22,8 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping_2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/2d/scan_matching/proto/ceres_scan_matcher_options_2d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "ceres/ceres.h"
 

cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc

@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
 
 #include <memory>
 
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/make_unique.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_2d/probability_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "gtest/gtest.h"

cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
 
 #include <cmath>
 

cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h

@@ -21,8 +21,8 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_2d/map_limits.h"
+#include "cartographer/mapping/2d/map_limits.h"
-#include "cartographer/mapping_2d/xy_index.h"
+#include "cartographer/mapping/2d/xy_index.h"
 #include "cartographer/sensor/point_cloud.h"
 
 namespace cartographer {

cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
 
 #include "cartographer/sensor/point_cloud.h"
 #include "gtest/gtest.h"

cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -24,7 +24,7 @@
 
 #include "Eigen/Geometry"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"

cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h

@@ -30,10 +30,10 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/port.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h"
-#include "cartographer/mapping_2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 
 namespace cartographer {

cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -23,8 +23,8 @@
 #include <string>
 
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"

cartographer/mapping/2d/scan_matching/fast_global_localizer.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/fast_global_localizer.h"
+#include "cartographer/mapping/2d/scan_matching/fast_global_localizer.h"
 
 #include "glog/logging.h"
 

cartographer/mapping/2d/scan_matching/fast_global_localizer.h

@@ -20,7 +20,7 @@
 #include <vector>
 
 #include "Eigen/Geometry"
-#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {

cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -24,7 +24,7 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"

cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h

@@ -41,10 +41,10 @@
 #include <vector>
 
 #include "Eigen/Core"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
 #include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/scan_matching/correlative_scan_matcher_2d.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 
 #include <cmath>
 #include <memory>
@@ -22,8 +22,8 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/mapping_2d/probability_grid.h"
+#include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"

cartographer/mapping/2d/submap_2d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
 
 #include <cinttypes>
 #include <cmath>

cartographer/mapping/2d/submap_2d.h

@@ -22,14 +22,14 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary.h"
+#include "cartographer/mapping/2d/map_limits.h"
+#include "cartographer/mapping/2d/probability_grid.h"
+#include "cartographer/mapping/2d/proto/submaps_options_2d.pb.h"
+#include "cartographer/mapping/2d/range_data_inserter_2d.h"
 #include "cartographer/mapping/proto/serialization.pb.h"
 #include "cartographer/mapping/proto/submap_visualization.pb.h"
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_node.h"
-#include "cartographer/mapping_2d/map_limits.h"
-#include "cartographer/mapping_2d/probability_grid.h"
-#include "cartographer/mapping_2d/proto/submaps_options_2d.pb.h"
-#include "cartographer/mapping_2d/range_data_inserter_2d.h"
 #include "cartographer/sensor/range_data.h"
 #include "cartographer/transform/rigid_transform.h"
 

cartographer/mapping/2d/submap_2d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/submap_2d.h"
+#include "cartographer/mapping/2d/submap_2d.h"
 
 #include <map>
 #include <memory>

cartographer/mapping/2d/xy_index.h

@@ -25,7 +25,7 @@
 #include "Eigen/Core"
 #include "cartographer/common/math.h"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping_2d/proto/cell_limits.pb.h"
+#include "cartographer/mapping/2d/proto/cell_limits.pb.h"
 #include "glog/logging.h"
 
 namespace cartographer {

cartographer/mapping/2d/xy_index_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_2d/xy_index.h"
+#include "cartographer/mapping/2d/xy_index.h"
 
 #include "gtest/gtest.h"
 

cartographer/mapping/3d/hybrid_grid.h

@@ -27,8 +27,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/port.h"
+#include "cartographer/mapping/3d/proto/hybrid_grid.pb.h"
 #include "cartographer/mapping/probability_values.h"
-#include "cartographer/mapping_3d/proto/hybrid_grid.pb.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 

cartographer/mapping/3d/hybrid_grid_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 
 #include <map>
 #include <random>

cartographer/mapping/3d/local_trajectory_builder_options_3d.cc

@@ -14,12 +14,12 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/local_trajectory_builder_options_3d.h"
+#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/scan_matching/real_time_correlative_scan_matcher.h"
-#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer/sensor/voxel_filter.h"
 #include "glog/logging.h"
 

cartographer/mapping/3d/local_trajectory_builder_options_3d.h

@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_MAPPING_3D_LOCAL_TRAJECTORY_BUILDER_OPTIONS_3D_H_
 
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_3d/proto/local_trajectory_builder_options_3d.pb.h"
+#include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/3d/pose_graph/constraint_builder_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h"
 
 #include <cmath>
 #include <functional>
@@ -29,8 +29,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
 #include "cartographer/metrics/counter.h"
 #include "cartographer/metrics/gauge.h"
 #include "cartographer/metrics/histogram.h"
@@ -340,7 +340,7 @@ void ConstraintBuilder3D::DeleteScanMatcher(const SubmapId& submap_id) {
 
 void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
   auto* counts = factory->NewCounterFamily(
-      "/mapping_3d/pose_graph/constraint_builder/constraints",
+      "/mapping/3d/pose_graph/constraint_builder/constraints",
       "Constraints computed");
   kConstraintsSearchedMetric =
       counts->Add({{"search_region", "local"}, {"matcher", "searched"}});
@@ -351,11 +351,11 @@ void ConstraintBuilder3D::RegisterMetrics(metrics::FamilyFactory* factory) {
   kGlobalConstraintsFoundMetric =
       counts->Add({{"search_region", "global"}, {"matcher", "found"}});
   auto* queue_length = factory->NewGaugeFamily(
-      "/mapping_3d/pose_graph/constraint_builder/queue_length", "Queue length");
+      "/mapping/3d/pose_graph/constraint_builder/queue_length", "Queue length");
   kQueueLengthMetric = queue_length->Add({{}});
   auto boundaries = metrics::Histogram::FixedWidth(0.05, 20);
   auto* scores = factory->NewHistogramFamily(
-      "/mapping_3d/pose_graph/constraint_builder/scores",
+      "/mapping/3d/pose_graph/constraint_builder/scores",
       "Constraint scores built", boundaries);
   kConstraintScoresMetric =
       scores->Add({{"search_region", "local"}, {"kind", "score"}});

cartographer/mapping/3d/pose_graph/constraint_builder_3d.h

@@ -31,12 +31,12 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
+#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/mapping/trajectory_node.h"
-#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h"
-#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
 #include "cartographer/sensor/point_cloud.h"

cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h

@@ -19,9 +19,9 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
 #include "cartographer/mapping/pose_graph/cost_helpers.h"
 #include "cartographer/mapping/pose_graph_interface.h"
-#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"

cartographer/mapping/3d/pose_graph/landmark_cost_function_3d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/pose_graph/landmark_cost_function_3d.h"
+#include "cartographer/mapping/3d/pose_graph/landmark_cost_function_3d.h"
 
 #include <memory>
 

cartographer/mapping/3d/pose_graph/optimization_problem_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h"
+#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
 
 #include <algorithm>
 #include <array>
@@ -30,13 +30,13 @@
 #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/acceleration_cost_function_3d.h"
-#include "cartographer/internal/mapping_3d/rotation_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/pose_graph/ceres_pose.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/transform/timestamped_transform.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"

cartographer/mapping/3d/pose_graph/optimization_problem_3d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h"
+#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
 
 #include <random>
 

cartographer/mapping/3d/pose_graph_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/pose_graph_3d.h"
+#include "cartographer/mapping/3d/pose_graph_3d.h"
 
 #include <algorithm>
 #include <cmath>

cartographer/mapping/3d/pose_graph_3d.h

@@ -32,12 +32,12 @@
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
 #include "cartographer/common/time.h"
+#include "cartographer/mapping/3d/pose_graph/constraint_builder_3d.h"
+#include "cartographer/mapping/3d/pose_graph/optimization_problem_3d.h"
+#include "cartographer/mapping/3d/submap_3d.h"
 #include "cartographer/mapping/pose_graph.h"
 #include "cartographer/mapping/pose_graph_trimmer.h"
 #include "cartographer/mapping/trajectory_connectivity_state.h"
-#include "cartographer/mapping_3d/pose_graph/constraint_builder_3d.h"
-#include "cartographer/mapping_3d/pose_graph/optimization_problem_3d.h"
-#include "cartographer/mapping_3d/submap_3d.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
 #include "cartographer/sensor/landmark_data.h"
 #include "cartographer/sensor/odometry_data.h"

cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.proto

@@ -19,8 +19,8 @@ package cartographer.mapping.proto;
 import "cartographer/mapping/proto/motion_filter_options.proto";
 import "cartographer/sensor/proto/adaptive_voxel_filter_options.proto";
 import "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.proto";
-import "cartographer/mapping_3d/proto/submaps_options_3d.proto";
+import "cartographer/mapping/3d/proto/submaps_options_3d.proto";
-import "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto";
+import "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.proto";
 
 // NEXT ID: 18
 message LocalTrajectoryBuilderOptions3D {

cartographer/mapping/3d/proto/submaps_options_3d.proto

@@ -14,7 +14,7 @@
 
 syntax = "proto3";
 
-import "cartographer/mapping_3d/proto/range_data_inserter_options_3d.proto";
+import "cartographer/mapping/3d/proto/range_data_inserter_options_3d.proto";
 
 package cartographer.mapping.proto;
 

cartographer/mapping/3d/range_data_inserter_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/range_data_inserter_3d.h"
+#include "cartographer/mapping/3d/range_data_inserter_3d.h"
 
 #include "Eigen/Core"
 #include "cartographer/mapping/probability_values.h"

cartographer/mapping/3d/range_data_inserter_3d.h

@@ -17,8 +17,8 @@
 #ifndef CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_
 #define CARTOGRAPHER_MAPPING_3D_RANGE_DATA_INSERTER_3D_H_
 
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/proto/range_data_inserter_options_3d.pb.h"
+#include "cartographer/mapping/3d/proto/range_data_inserter_options_3d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/sensor/range_data.h"
 

cartographer/mapping/3d/range_data_inserter_3d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/range_data_inserter_3d.h"
+#include "cartographer/mapping/3d/range_data_inserter_3d.h"
 
 #include <memory>
 #include <vector>

cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
 
 #include <string>
 #include <utility>
@@ -22,11 +22,11 @@
 
 #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/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/pose_graph/ceres_pose.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/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"

cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h

@@ -22,8 +22,8 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 

cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc

@@ -14,13 +14,13 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
 
 #include <memory>
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"

cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -24,9 +24,9 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping_3d/scan_matching/low_resolution_matcher.h"
+#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
-#include "cartographer/mapping_3d/scan_matching/precomputation_grid_3d.h"
+#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
-#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 

cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h

@@ -25,11 +25,11 @@
 
 #include "Eigen/Core"
 #include "cartographer/common/port.h"
+#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/mapping/trajectory_node.h"
-#include "cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_2d.h"
-#include "cartographer/mapping_3d/hybrid_grid.h"
-#include "cartographer/mapping_3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping_3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/sensor/point_cloud.h"
 
 namespace cartographer {

cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -23,7 +23,7 @@
 
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/mapping_3d/range_data_inserter_3d.h"
+#include "cartographer/mapping/3d/range_data_inserter_3d.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"

cartographer/mapping/3d/scan_matching/interpolated_grid.h

@@ -19,7 +19,7 @@
 
 #include <cmath>
 
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc

@@ -14,10 +14,10 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/interpolated_grid.h"
+#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
 
 #include "Eigen/Core"
-#include "cartographer/mapping_3d/hybrid_grid.h"
+#include "cartographer/mapping/3d/hybrid_grid.h"
 #include "gtest/gtest.h"
 
 namespace cartographer {

cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping_3d/scan_matching/low_resolution_matcher.h"
+#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
 
 namespace cartographer {
 namespace mapping {