diff --git a/cartographer/mapping/detect_floors.cc b/cartographer/mapping/detect_floors.cc
index 87fa1ea..ad402ac 100644
--- a/cartographer/mapping/detect_floors.cc
+++ b/cartographer/mapping/detect_floors.cc
@@ -37,7 +37,7 @@ using Levels = std::map<int, int>;
 
 constexpr double kMaxShortSpanLengthMeters = 25.;
 constexpr double kLevelHeightMeters = 2.5;
-constexpr double kMinLevelSeparationMeters = 1.0;
+constexpr double kMinLevelSeparationMeters = 1.;
 
 // Indices into 'trajectory.node', so that 'start_index' <= i < 'end_index'.
 struct Span {
diff --git a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
index f774a29..d04d447 100644
--- a/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
+++ b/cartographer/mapping_2d/scan_matching/fast_correlative_scan_matcher_test.cc
@@ -187,7 +187,7 @@ TEST(FastCorrelativeScanMatcherTest, FullSubmapMatching) {
   unperturbed_point_cloud.emplace_back(0.f, 0.5f, 0.f);
   unperturbed_point_cloud.emplace_back(0.25f, 1.6f, 0.f);
   unperturbed_point_cloud.emplace_back(2.5f, 0.5f, 0.f);
-  unperturbed_point_cloud.emplace_back(2.0f, 1.8f, 0.f);
+  unperturbed_point_cloud.emplace_back(2.f, 1.8f, 0.f);
 
   for (int i = 0; i != 20; ++i) {
     const transform::Rigid2f perturbation(
diff --git a/cartographer/mapping_2d/scan_matching/fast_global_localizer.h b/cartographer/mapping_2d/scan_matching/fast_global_localizer.h
index c9544d9..6fec202 100644
--- a/cartographer/mapping_2d/scan_matching/fast_global_localizer.h
+++ b/cartographer/mapping_2d/scan_matching/fast_global_localizer.h
@@ -35,7 +35,7 @@ namespace scan_matching {
 //
 // Returns true in the case of successful localization. The output parameters
 // should not be trusted if the function returns false. The 'cutoff' and
-// 'best_score' are in the range [0.0, 1.0].
+// 'best_score' are in the range [0., 1.].
 bool PerformGlobalLocalization(
     float cutoff, const cartographer::sensor::AdaptiveVoxelFilter& voxel_filter,
     const std::vector<
diff --git a/cartographer/mapping_2d/sparse_pose_graph.h b/cartographer/mapping_2d/sparse_pose_graph.h
index 1060742..965cb60 100644
--- a/cartographer/mapping_2d/sparse_pose_graph.h
+++ b/cartographer/mapping_2d/sparse_pose_graph.h
@@ -99,9 +99,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   std::vector<std::vector<mapping::TrajectoryNode>> GetTrajectoryNodes()
       override EXCLUDES(mutex_);
   std::vector<Constraint> constraints() override EXCLUDES(mutex_);
-  common::Time GetLatestScanTime(const mapping::NodeId& node_id,
-                                 const mapping::SubmapId& submap_id) const
-      REQUIRES(mutex_);
 
  private:
   // The current state of the submap in the background threads. When this
@@ -156,11 +153,6 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   // optimization being run at a time.
   void RunOptimization() EXCLUDES(mutex_);
 
-  // Updates the trajectory connectivity structure with the new constraints.
-  void UpdateTrajectoryConnectivity(
-      const sparse_pose_graph::ConstraintBuilder::Result& result)
-      REQUIRES(mutex_);
-
   // Computes the local to global frame transform based on the given optimized
   // 'submap_transforms'.
   transform::Rigid3d ComputeLocalToGlobalTransform(
@@ -171,6 +163,15 @@ class SparsePoseGraph : public mapping::SparsePoseGraph {
   mapping::SparsePoseGraph::SubmapData GetSubmapDataUnderLock(
       const mapping::SubmapId& submap_id) REQUIRES(mutex_);
 
+  common::Time GetLatestScanTime(const mapping::NodeId& node_id,
+                                 const mapping::SubmapId& submap_id) const
+      REQUIRES(mutex_);
+
+  // Updates the trajectory connectivity structure with the new constraints.
+  void UpdateTrajectoryConnectivity(
+      const sparse_pose_graph::ConstraintBuilder::Result& result)
+      REQUIRES(mutex_);
+
   const mapping::proto::SparsePoseGraphOptions options_;
   common::Mutex mutex_;