diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.cc b/cartographer/mapping/internal/2d/pose_graph_2d.cc
index 815739b..5a40c9b 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.cc
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.cc
@@ -680,7 +680,7 @@ void PoseGraph2D::SetInitialTrajectoryPose(const int from_trajectory_id,
 
 transform::Rigid3d PoseGraph2D::GetInterpolatedGlobalTrajectoryPose(
     const int trajectory_id, const common::Time time) const {
-  CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0);
+  CHECK_GT(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id), 0);
   const auto it = trajectory_nodes_.lower_bound(trajectory_id, time);
   if (it == trajectory_nodes_.BeginOfTrajectory(trajectory_id)) {
     return trajectory_nodes_.BeginOfTrajectory(trajectory_id)->data.global_pose;
diff --git a/cartographer/mapping/internal/2d/pose_graph_2d.h b/cartographer/mapping/internal/2d/pose_graph_2d.h
index 503a7a7..18219a1 100644
--- a/cartographer/mapping/internal/2d/pose_graph_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph_2d.h
@@ -93,9 +93,9 @@ class PoseGraph2D : public PoseGraph {
       EXCLUDES(mutex_);
 
   void FinishTrajectory(int trajectory_id) override;
-  bool IsTrajectoryFinished(int trajectory_id) override;
+  bool IsTrajectoryFinished(int trajectory_id) override REQUIRES(mutex_);
   void FreezeTrajectory(int trajectory_id) override;
-  bool IsTrajectoryFrozen(int trajectory_id) override;
+  bool IsTrajectoryFrozen(int trajectory_id) override REQUIRES(mutex_);
   void AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
                           const proto::Submap& submap) override;
   void AddNodeFromProto(const transform::Rigid3d& global_pose,
@@ -284,7 +284,7 @@ class PoseGraph2D : public PoseGraph {
     std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
     void MarkSubmapAsTrimmed(const SubmapId& submap_id)
         REQUIRES(parent_->mutex_) override;
-    bool IsFinished(int trajectory_id) const override;
+    bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex);
 
    private:
     PoseGraph2D* const parent_;
diff --git a/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h b/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
index 6edf469..4c1e25a 100644
--- a/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
 
 #include "Eigen/Core"
+#include "ceres/ceres.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h b/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
index e0c3d62..b92f7c7 100644
--- a/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
 
 #include "Eigen/Core"
+#include "ceres/ceres.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h b/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
index 678a18d..b90293d 100644
--- a/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/acceleration_cost_function_3d.h
@@ -19,6 +19,7 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "ceres/ceres.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.cc b/cartographer/mapping/internal/3d/pose_graph_3d.cc
index 638a734..e2d1df7 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.cc
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.cc
@@ -713,7 +713,7 @@ void PoseGraph3D::SetInitialTrajectoryPose(const int from_trajectory_id,
 
 transform::Rigid3d PoseGraph3D::GetInterpolatedGlobalTrajectoryPose(
     const int trajectory_id, const common::Time time) const {
-  CHECK(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id) > 0);
+  CHECK_GT(trajectory_nodes_.SizeOfTrajectoryOrZero(trajectory_id), 0);
   const auto it = trajectory_nodes_.lower_bound(trajectory_id, time);
   if (it == trajectory_nodes_.BeginOfTrajectory(trajectory_id)) {
     return trajectory_nodes_.BeginOfTrajectory(trajectory_id)->data.global_pose;
diff --git a/cartographer/mapping/internal/3d/pose_graph_3d.h b/cartographer/mapping/internal/3d/pose_graph_3d.h
index f81d3fb..515e982 100644
--- a/cartographer/mapping/internal/3d/pose_graph_3d.h
+++ b/cartographer/mapping/internal/3d/pose_graph_3d.h
@@ -92,9 +92,9 @@ class PoseGraph3D : public PoseGraph {
       EXCLUDES(mutex_);
 
   void FinishTrajectory(int trajectory_id) override;
-  bool IsTrajectoryFinished(int trajectory_id) override;
+  bool IsTrajectoryFinished(int trajectory_id) override REQUIRES(mutex_);
   void FreezeTrajectory(int trajectory_id) override;
-  bool IsTrajectoryFrozen(int trajectory_id) override;
+  bool IsTrajectoryFrozen(int trajectory_id) override REQUIRES(mutex_);
   void AddSubmapFromProto(const transform::Rigid3d& global_submap_pose,
                           const proto::Submap& submap) override;
   void AddNodeFromProto(const transform::Rigid3d& global_pose,
@@ -289,7 +289,7 @@ class PoseGraph3D : public PoseGraph {
     std::vector<PoseGraphInterface::Constraint> GetConstraints() const override;
     void MarkSubmapAsTrimmed(const SubmapId& submap_id)
         REQUIRES(parent_->mutex_) override;
-    bool IsFinished(int trajectory_id) const override;
+    bool IsFinished(int trajectory_id) const override REQUIRES(parent_->mutex_);
 
    private:
     PoseGraph3D* const parent_;
diff --git a/cartographer/mapping/internal/3d/rotation_cost_function_3d.h b/cartographer/mapping/internal/3d/rotation_cost_function_3d.h
index 1bd709e..cd61190 100644
--- a/cartographer/mapping/internal/3d/rotation_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/rotation_cost_function_3d.h
@@ -19,6 +19,7 @@
 
 #include "Eigen/Core"
 #include "Eigen/Geometry"
+#include "ceres/ceres.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h b/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
index 91464fa..7959eaf 100644
--- a/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
@@ -18,6 +18,7 @@
 #define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
 
 #include "Eigen/Core"
+#include "ceres/ceres.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h b/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
index 94484d1..eee01cf 100644
--- a/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
+++ b/cartographer/mapping/internal/pose_graph/cost_helpers_impl.h
@@ -17,6 +17,10 @@
 #ifndef CARTOGRAPHER_MAPPING_INTERNAL_POSE_GRAPH_COST_HELPERS_IMPL_H_
 #define CARTOGRAPHER_MAPPING_INTERNAL_POSE_GRAPH_COST_HELPERS_IMPL_H_
 
+#include "Eigen/Core"
+#include "cartographer/transform/rigid_transform.h"
+#include "cartographer/transform/transform.h"
+
 namespace cartographer {
 namespace mapping {
 namespace pose_graph {
diff --git a/cartographer/mapping/pose_graph.cc b/cartographer/mapping/pose_graph.cc
index 7deb8fc..9750fab 100644
--- a/cartographer/mapping/pose_graph.cc
+++ b/cartographer/mapping/pose_graph.cc
@@ -43,7 +43,8 @@ PoseGraph::Constraint::Tag FromProto(
     case proto::PoseGraph::Constraint::INTER_SUBMAP:
       return PoseGraph::Constraint::Tag::INTER_SUBMAP;
     case ::google::protobuf::kint32max:
-    case ::google::protobuf::kint32min:;
+    case ::google::protobuf::kint32min: {
+    }
   }
   LOG(FATAL) << "Unsupported tag.";
 }