From 7e82ac3bbf37b6cd7dd13b1266e111701c4c00e9 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <wohe@users.noreply.github.com>
Date: Fri, 24 Nov 2017 15:29:48 +0100
Subject: [PATCH] Make IMU cost functions internal. (#708)

[RFC=0003](https://github.com/googlecartographer/rfcs/blob/master/text/0003-internal-headers.md)
---
 .../{ => internal}/mapping_3d/acceleration_cost_function.h  | 6 +++---
 .../{ => internal}/mapping_3d/rotation_cost_function.h      | 6 +++---
 cartographer/mapping_3d/pose_graph/optimization_problem.cc  | 4 ++--
 3 files changed, 8 insertions(+), 8 deletions(-)
 rename cartographer/{ => internal}/mapping_3d/acceleration_cost_function.h (94%)
 rename cartographer/{ => internal}/mapping_3d/rotation_cost_function.h (91%)

diff --git a/cartographer/mapping_3d/acceleration_cost_function.h b/cartographer/internal/mapping_3d/acceleration_cost_function.h
similarity index 94%
rename from cartographer/mapping_3d/acceleration_cost_function.h
rename to cartographer/internal/mapping_3d/acceleration_cost_function.h
index a5a16d7..972d19c 100644
--- a/cartographer/mapping_3d/acceleration_cost_function.h
+++ b/cartographer/internal/mapping_3d/acceleration_cost_function.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
-#define CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
+#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
+#define CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -84,4 +84,4 @@ class AccelerationCostFunction {
 }  // namespace mapping_3d
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
+#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_ACCELERATION_COST_FUNCTION_H_
diff --git a/cartographer/mapping_3d/rotation_cost_function.h b/cartographer/internal/mapping_3d/rotation_cost_function.h
similarity index 91%
rename from cartographer/mapping_3d/rotation_cost_function.h
rename to cartographer/internal/mapping_3d/rotation_cost_function.h
index 1f5a0d5..5c2ee9f 100644
--- a/cartographer/mapping_3d/rotation_cost_function.h
+++ b/cartographer/internal/mapping_3d/rotation_cost_function.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_ROTATION_COST_FUNCTION_H_
-#define CARTOGRAPHER_MAPPING_3D_ROTATION_COST_FUNCTION_H_
+#ifndef CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_H_
+#define CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_H_
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
@@ -61,4 +61,4 @@ class RotationCostFunction {
 }  // namespace mapping_3d
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_ROTATION_COST_FUNCTION_H_
+#endif  // CARTOGRAPHER_INTERNAL_MAPPING_3D_ROTATION_COST_FUNCTION_H_
diff --git a/cartographer/mapping_3d/pose_graph/optimization_problem.cc b/cartographer/mapping_3d/pose_graph/optimization_problem.cc
index dd0d714..093a0a5 100644
--- a/cartographer/mapping_3d/pose_graph/optimization_problem.cc
+++ b/cartographer/mapping_3d/pose_graph/optimization_problem.cc
@@ -30,11 +30,11 @@
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
 #include "cartographer/common/time.h"
-#include "cartographer/mapping_3d/acceleration_cost_function.h"
+#include "cartographer/internal/mapping_3d/acceleration_cost_function.h"
+#include "cartographer/internal/mapping_3d/rotation_cost_function.h"
 #include "cartographer/mapping_3d/ceres_pose.h"
 #include "cartographer/mapping_3d/imu_integration.h"
 #include "cartographer/mapping_3d/pose_graph/spa_cost_function.h"
-#include "cartographer/mapping_3d/rotation_cost_function.h"
 #include "cartographer/mapping_3d/rotation_parameterization.h"
 #include "cartographer/transform/timestamped_transform.h"
 #include "cartographer/transform/transform.h"