diff --git a/gtsam/navigation/ScenarioRunner.h b/gtsam/navigation/ScenarioRunner.h
new file mode 100644
index 000000000..45ec74978
--- /dev/null
+++ b/gtsam/navigation/ScenarioRunner.h
@@ -0,0 +1,79 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file    ScenarioRunner.h
+ * @brief   Simple class to test navigation scenarios
+ * @author  Frank Dellaert
+ */
+
+#pragma once
+#include <gtsam/navigation/ImuFactor.h>
+#include <gtsam/navigation/Scenario.h>
+
+#include <iostream>
+
+namespace gtsam {
+
+double accNoiseVar = 0.01;
+double omegaNoiseVar = 0.03;
+double intNoiseVar = 0.0001;
+const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
+const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3;
+const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3;
+
+/// Simple class to test navigation scenarios
+class ScenarioRunner {
+ public:
+  ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {}
+
+  // Integrate measurements for T seconds
+  ImuFactor::PreintegratedMeasurements integrate(double T) {
+    // TODO(frank): allow non-zero
+    const imuBias::ConstantBias zeroBias;
+    const bool use2ndOrderCoriolis = true;
+
+    ImuFactor::PreintegratedMeasurements result(
+        zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance,
+        kIntegrationErrorCovariance, use2ndOrderCoriolis);
+
+    const Vector3 measuredOmega = scenario_.angularVelocityInBody();
+    const double deltaT = scenario_.imuSampleTime();
+    const size_t nrSteps = T / deltaT;
+    double t = 0;
+    for (size_t k = 0; k < nrSteps; k++, t += deltaT) {
+      const Vector3 measuredAcc = scenario_.accelerationInBody(t);
+      result.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
+    }
+
+    return result;
+  }
+
+  // Predict mean
+  Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) {
+    // TODO(frank): allow non-standard
+    const imuBias::ConstantBias zeroBias;
+    const Pose3 pose_i = Pose3::identity();
+    const Vector3 vel_i = scenario_.velocity(0);
+    const Vector3 omegaCoriolis = Vector3::Zero();
+    const bool use2ndOrderCoriolis = true;
+    const PoseVelocityBias prediction =
+        integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(),
+                           omegaCoriolis, use2ndOrderCoriolis);
+    return prediction.pose;
+  }
+
+ private:
+  Scenario scenario_;
+};
+
+}  // namespace gtsam
+
diff --git a/gtsam/navigation/tests/testScenarioRunner.cpp b/gtsam/navigation/tests/testScenarioRunner.cpp
index df5ebbfd4..fc92bc416 100644
--- a/gtsam/navigation/tests/testScenarioRunner.cpp
+++ b/gtsam/navigation/tests/testScenarioRunner.cpp
@@ -10,79 +10,12 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file    ScenarioRunner.h
- * @brief   Simple class to test navigation scenarios
- * @author  Frank Dellaert
- */
-
-#include <gtsam/navigation/ImuFactor.h>
-#include <gtsam/navigation/Scenario.h>
-
-#include <iostream>
-
-namespace gtsam {
-
-double accNoiseVar = 0.01;
-double omegaNoiseVar = 0.03;
-double intNoiseVar = 0.0001;
-const Matrix3 kMeasuredAccCovariance = accNoiseVar * I_3x3;
-const Matrix3 kMeasuredOmegaCovariance = omegaNoiseVar * I_3x3;
-const Matrix3 kIntegrationErrorCovariance = intNoiseVar * I_3x3;
-
-/// Simple class to test navigation scenarios
-class ScenarioRunner {
- public:
-  ScenarioRunner(const Scenario& scenario) : scenario_(scenario) {}
-
-  // Integrate measurements for T seconds
-  ImuFactor::PreintegratedMeasurements integrate(double T) {
-    // TODO(frank): allow non-zero
-    const imuBias::ConstantBias zeroBias;
-    const bool use2ndOrderCoriolis = true;
-
-    ImuFactor::PreintegratedMeasurements result(
-        zeroBias, kMeasuredAccCovariance, kMeasuredOmegaCovariance,
-        kIntegrationErrorCovariance, use2ndOrderCoriolis);
-
-    const Vector3 measuredOmega = scenario_.angularVelocityInBody();
-    const double deltaT = scenario_.imuSampleTime();
-    const size_t nrSteps = T / deltaT;
-    double t = 0;
-    for (size_t k = 0; k < nrSteps; k++, t += deltaT) {
-      const Vector3 measuredAcc = scenario_.accelerationInBody(t);
-      result.integrateMeasurement(measuredAcc, measuredOmega, deltaT);
-    }
-
-    return result;
-  }
-
-  // Predict mean
-  Pose3 mean(const ImuFactor::PreintegratedMeasurements& integrated) {
-    // TODO(frank): allow non-standard
-    const imuBias::ConstantBias zeroBias;
-    const Pose3 pose_i = Pose3::identity();
-    const Vector3 vel_i = scenario_.velocity(0);
-    const Vector3 omegaCoriolis = Vector3::Zero();
-    const bool use2ndOrderCoriolis = true;
-    const PoseVelocityBias prediction =
-        integrated.predict(pose_i, vel_i, zeroBias, scenario_.gravity(),
-                           omegaCoriolis, use2ndOrderCoriolis);
-    return prediction.pose;
-  }
-
- private:
-  Scenario scenario_;
-};
-
-}  // namespace gtsam
-
-/**
- * @file    testScenario.cpp
+ * @file    testScenarioRunner.cpp
  * @brief   test ImuFacor with ScenarioRunner class
  * @author  Frank Dellaert
  */
 
-#include <gtsam/navigation/Scenario.h>
+#include <gtsam/navigation/ScenarioRunner.h>
 #include <CppUnitLite/TestHarness.h>
 #include <cmath>