Move sensor-related stuff to internal/. (#985)

[Internal headers RFC](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)

cartographer/cloud/internal/handlers/add_fixed_frame_pose_data_handler.cc

@@ -21,8 +21,8 @@
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/sensor/dispatchable.h"
 #include "cartographer/sensor/fixed_frame_pose_data.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {

cartographer/cloud/internal/handlers/add_imu_data_handler.cc

@@ -21,8 +21,8 @@
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/sensor/dispatchable.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {

cartographer/cloud/internal/handlers/add_landmark_data_handler.cc

@@ -21,7 +21,7 @@
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/landmark_data.h"
 #include "google/protobuf/empty.pb.h"
 

cartographer/cloud/internal/handlers/add_local_slam_result_data_handler.cc

@@ -22,7 +22,7 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/trajectory_node.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/empty.pb.h"
 
 namespace cartographer {

cartographer/cloud/internal/handlers/add_odometry_data_handler.cc

@@ -21,7 +21,7 @@
 #include "cartographer/cloud/internal/sensor/serialization.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "google/protobuf/empty.pb.h"
 

cartographer/cloud/internal/handlers/add_rangefinder_data_handler.cc

@@ -20,7 +20,7 @@
 #include "cartographer/cloud/internal/map_builder_context_interface.h"
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
 #include "google/protobuf/empty.pb.h"
 

cartographer/cloud/internal/map_builder_server.h

@@ -28,7 +28,7 @@
 #include "cartographer/mapping/local_slam_result_data.h"
 #include "cartographer/mapping/map_builder.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 
 namespace cartographer {
 namespace cloud {

cartographer/cloud/internal/testing/test_helpers.h

@@ -18,7 +18,7 @@
 #define CARTOGRAPHER_CLOUD_INTERNAL_TESTING_TEST_HELPERS_H
 
 #include "cartographer/cloud/proto/map_builder_service.pb.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "google/protobuf/util/message_differencer.h"
 
 namespace cartographer {

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

@@ -29,9 +29,9 @@
 #include "cartographer/mapping/pose_extrapolator.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/range_data.h"
-#include "cartographer/sensor/voxel_filter.h"
 #include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {

cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc

@@ -20,7 +20,7 @@
 #include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
 #include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 
 namespace cartographer {
 namespace mapping {

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

@@ -36,8 +36,8 @@
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/metrics/family_factory.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/sensor/point_cloud.h"
-#include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/internal/2d/pose_graph_2d.cc

@@ -33,7 +33,7 @@
 #include "cartographer/common/math.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "glog/logging.h"
 
 namespace cartographer {

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

@@ -21,7 +21,7 @@
 
 #include "Eigen/Geometry"
 #include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 
 namespace cartographer {
 namespace mapping {

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

@@ -29,9 +29,9 @@
 #include "cartographer/mapping/pose_extrapolator.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/range_data.h"
-#include "cartographer/sensor/voxel_filter.h"
 #include "cartographer/transform/rigid_transform.h"
 
 namespace cartographer {

cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc

@@ -20,7 +20,7 @@
 #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_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 "cartographer/sensor/internal/voxel_filter.h"
 #include "glog/logging.h"
 
 namespace cartographer {

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

@@ -39,8 +39,8 @@
 #include "cartographer/mapping/trajectory_node.h"
 #include "cartographer/metrics/family_factory.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/sensor/point_cloud.h"
-#include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/internal/3d/pose_graph_3d.cc

@@ -32,7 +32,7 @@
 #include "cartographer/common/math.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/sensor/compressed_point_cloud.h"
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 

cartographer/mapping/internal/collated_trajectory_builder.h

@@ -29,7 +29,7 @@
 #include "cartographer/mapping/submaps.h"
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/collator_interface.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/internal/pose_graph/constraint_builder.cc

@@ -20,7 +20,7 @@
 #include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 
 namespace cartographer {
 namespace mapping {

cartographer/mapping/map_builder.cc

@@ -30,10 +30,10 @@
 #include "cartographer/mapping/internal/3d/pose_graph_3d.h"
 #include "cartographer/mapping/internal/collated_trajectory_builder.h"
 #include "cartographer/mapping/internal/global_trajectory_builder.h"
-#include "cartographer/sensor/collator.h"
+#include "cartographer/sensor/internal/collator.h"
+#include "cartographer/sensor/internal/trajectory_collator.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 #include "cartographer/sensor/range_data.h"
-#include "cartographer/sensor/trajectory_collator.h"
-#include "cartographer/sensor/voxel_filter.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"

cartographer/sensor/internal/collator.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/collator.h"
+#include "cartographer/sensor/internal/collator.h"
 
 namespace cartographer {
 namespace sensor {

cartographer/sensor/internal/collator.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_COLLATOR_H_
-#define CARTOGRAPHER_SENSOR_COLLATOR_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_
 
 #include <functional>
 #include <memory>
@@ -25,7 +25,7 @@
 
 #include "cartographer/sensor/collator_interface.h"
 #include "cartographer/sensor/data.h"
-#include "cartographer/sensor/ordered_multi_queue.h"
+#include "cartographer/sensor/internal/ordered_multi_queue.h"
 
 namespace cartographer {
 namespace sensor {
@@ -60,4 +60,4 @@ class Collator : public CollatorInterface {
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_COLLATOR_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_COLLATOR_H_

cartographer/sensor/internal/collator_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/collator.h"
+#include "cartographer/sensor/internal/collator.h"
 
 #include <array>
 #include <memory>
@@ -22,8 +22,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/test_helpers.h"
 #include "cartographer/sensor/odometry_data.h"
-#include "cartographer/sensor/test_helpers.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
 #include "gtest/gtest.h"
 

cartographer/sensor/internal/dispatchable.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_MAPPING_DISPATCHABLE_H_
-#define CARTOGRAPHER_SENSOR_MAPPING_DISPATCHABLE_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_
 
 #include "cartographer/mapping/trajectory_builder_interface.h"
 #include "cartographer/sensor/data.h"
@@ -49,4 +49,4 @@ std::unique_ptr<Dispatchable<DataType>> MakeDispatchable(
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_MAPPING_DISPATCHABLE_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_MAPPING_DISPATCHABLE_H_

cartographer/sensor/internal/ordered_multi_queue.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/ordered_multi_queue.h"
+#include "cartographer/sensor/internal/ordered_multi_queue.h"
 
 #include <algorithm>
 #include <sstream>

cartographer/sensor/internal/ordered_multi_queue.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_ORDERED_MULTI_QUEUE_H_
-#define CARTOGRAPHER_SENSOR_ORDERED_MULTI_QUEUE_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_ORDERED_MULTI_QUEUE_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_ORDERED_MULTI_QUEUE_H_
 
 #include <functional>
 #include <map>
@@ -26,7 +26,7 @@
 #include "cartographer/common/blocking_queue.h"
 #include "cartographer/common/port.h"
 #include "cartographer/common/time.h"
-#include "cartographer/sensor/dispatchable.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 
 namespace cartographer {
 namespace sensor {
@@ -96,4 +96,4 @@ class OrderedMultiQueue {
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_ORDERED_MULTI_QUEUE_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_ORDERED_MULTI_QUEUE_H_

cartographer/sensor/internal/ordered_multi_queue_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/ordered_multi_queue.h"
+#include "cartographer/sensor/internal/ordered_multi_queue.h"
 
 #include <vector>
 

cartographer/sensor/internal/test_helpers.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_TEST_HELPERS_H_
-#define CARTOGRAPHER_SENSOR_TEST_HELPERS_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_
 
 #include <string>
 #include <tuple>
@@ -23,8 +23,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/collator_interface.h"
-#include "cartographer/sensor/dispatchable.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/dispatchable.h"
 #include "cartographer/sensor/odometry_data.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
 #include "gmock/gmock.h"
@@ -84,4 +84,4 @@ struct CollatorInput {
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_TEST_HELPERS_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_TEST_HELPERS_H_

cartographer/sensor/internal/trajectory_collator.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/trajectory_collator.h"
+#include "cartographer/sensor/internal/trajectory_collator.h"
 
 namespace cartographer {
 namespace sensor {

cartographer/sensor/internal/trajectory_collator.h

@@ -14,15 +14,15 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_TRAJECTORY_COLLATOR_H_
-#define CARTOGRAPHER_SENSOR_TRAJECTORY_COLLATOR_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_
 
 #include <memory>
 #include <unordered_map>
 #include <vector>
 
 #include "cartographer/sensor/collator_interface.h"
-#include "cartographer/sensor/ordered_multi_queue.h"
+#include "cartographer/sensor/internal/ordered_multi_queue.h"
 
 namespace cartographer {
 namespace sensor {
@@ -62,4 +62,4 @@ class TrajectoryCollator : public CollatorInterface {
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_TRAJECTORY_COLLATOR_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_TRAJECTORY_COLLATOR_H_

cartographer/sensor/internal/trajectory_collator_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/trajectory_collator.h"
+#include "cartographer/sensor/internal/trajectory_collator.h"
 
 #include <array>
 #include <memory>
@@ -22,8 +22,8 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/time.h"
 #include "cartographer/sensor/imu_data.h"
+#include "cartographer/sensor/internal/test_helpers.h"
 #include "cartographer/sensor/odometry_data.h"
-#include "cartographer/sensor/test_helpers.h"
 #include "cartographer/sensor/timed_point_cloud_data.h"
 #include "gtest/gtest.h"
 

cartographer/sensor/internal/voxel_filter.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 
 #include <cmath>
 

cartographer/sensor/internal/voxel_filter.h

@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_SENSOR_VOXEL_FILTER_H_
-#define CARTOGRAPHER_SENSOR_VOXEL_FILTER_H_
+#ifndef CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_
+#define CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_
 
 #include <bitset>
 #include <unordered_set>
@@ -75,4 +75,4 @@ class AdaptiveVoxelFilter {
 }  // namespace sensor
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_SENSOR_VOXEL_FILTER_H_
+#endif  // CARTOGRAPHER_SENSOR_INTERNAL_VOXEL_FILTER_H_

cartographer/sensor/internal/voxel_filter_test.cc

@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/sensor/voxel_filter.h"
+#include "cartographer/sensor/internal/voxel_filter.h"
 
 #include <cmath>
 

cartographer/sensor/landmark_data_test.cc

@@ -18,7 +18,7 @@
 
 #include <cmath>
 
-#include "cartographer/sensor/test_helpers.h"
+#include "cartographer/sensor/internal/test_helpers.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
 #include "cartographer/transform/transform.h"
 #include "gtest/gtest.h"

cartographer/sensor/range_data_test.cc

@@ -19,7 +19,7 @@
 #include <tuple>
 #include <vector>
 
-#include "cartographer/sensor/test_helpers.h"
+#include "cartographer/sensor/internal/test_helpers.h"
 #include "gmock/gmock.h"
 
 namespace cartographer {