From 976736051c020819586537b1130a90cdfe7b38e7 Mon Sep 17 00:00:00 2001
From: Alexander Belyaev <32522095+pifon2a@users.noreply.github.com>
Date: Tue, 13 Mar 2018 10:21:27 +0100
Subject: [PATCH] Move scan matchers to internal/. (#983)

---
 .../mapping/internal/2d/local_trajectory_builder_2d.h  |  4 ++--
 .../internal/2d/local_trajectory_builder_options_2d.cc |  4 ++--
 .../internal/2d/pose_graph/constraint_builder_2d.h     |  4 ++--
 .../2d/scan_matching/ceres_scan_matcher_2d.cc          |  6 +++---
 .../2d/scan_matching/ceres_scan_matcher_2d.h           |  6 +++---
 .../2d/scan_matching/ceres_scan_matcher_2d_test.cc     |  2 +-
 .../2d/scan_matching/correlative_scan_matcher_2d.cc    |  2 +-
 .../2d/scan_matching/correlative_scan_matcher_2d.h     |  6 +++---
 .../2d/scan_matching/correlative_scan_matcher_test.cc  |  2 +-
 .../scan_matching/fast_correlative_scan_matcher_2d.cc  |  2 +-
 .../scan_matching/fast_correlative_scan_matcher_2d.h   |  8 ++++----
 .../fast_correlative_scan_matcher_2d_test.cc           |  2 +-
 .../2d/scan_matching/fast_global_localizer.cc          |  2 +-
 .../2d/scan_matching/fast_global_localizer.h           |  8 ++++----
 .../real_time_correlative_scan_matcher_2d.cc           |  2 +-
 .../real_time_correlative_scan_matcher_2d.h            |  8 ++++----
 .../real_time_correlative_scan_matcher_2d_test.cc      |  2 +-
 .../2d/scan_matching/rotation_delta_cost_functor_2d.h  |  6 +++---
 .../scan_matching/translation_delta_cost_functor_2d.h  |  6 +++---
 .../mapping/internal/3d/local_trajectory_builder_3d.cc |  2 +-
 .../mapping/internal/3d/local_trajectory_builder_3d.h  |  4 ++--
 .../internal/3d/local_trajectory_builder_options_3d.cc |  2 +-
 .../internal/3d/pose_graph/constraint_builder_3d.h     |  4 ++--
 .../3d/scan_matching/ceres_scan_matcher_3d.cc          |  6 +++---
 .../3d/scan_matching/ceres_scan_matcher_3d.h           |  6 +++---
 .../3d/scan_matching/ceres_scan_matcher_3d_test.cc     |  2 +-
 .../scan_matching/fast_correlative_scan_matcher_3d.cc  |  6 +++---
 .../scan_matching/fast_correlative_scan_matcher_3d.h   | 10 +++++-----
 .../fast_correlative_scan_matcher_3d_test.cc           |  2 +-
 .../3d/scan_matching/interpolated_grid.h               |  6 +++---
 .../3d/scan_matching/interpolated_grid_test.cc         |  2 +-
 .../3d/scan_matching/low_resolution_matcher.cc         |  2 +-
 .../3d/scan_matching/low_resolution_matcher.h          |  6 +++---
 .../3d/scan_matching/occupied_space_cost_function_3d.h |  2 +-
 .../3d/scan_matching/precomputation_grid_3d.cc         |  2 +-
 .../3d/scan_matching/precomputation_grid_3d.h          |  6 +++---
 .../3d/scan_matching/precomputation_grid_3d_test.cc    |  2 +-
 .../real_time_correlative_scan_matcher_3d.cc           |  2 +-
 .../real_time_correlative_scan_matcher_3d.h            |  6 +++---
 .../real_time_correlative_scan_matcher_3d_test.cc      |  4 ++--
 .../3d/scan_matching/rotation_delta_cost_functor_3d.h  |  6 +++---
 .../rotation_delta_cost_functor_3d_test.cc             |  2 +-
 .../3d/scan_matching/rotational_scan_matcher.cc        |  2 +-
 .../3d/scan_matching/rotational_scan_matcher.h         |  6 +++---
 .../3d/scan_matching/rotational_scan_matcher_test.cc   |  2 +-
 .../scan_matching/translation_delta_cost_functor_3d.h  |  6 +++---
 .../mapping/internal/pose_graph/constraint_builder.cc  |  8 ++++----
 47 files changed, 99 insertions(+), 99 deletions(-)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/ceres_scan_matcher_2d.cc (93%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/ceres_scan_matcher_2d.h (89%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/ceres_scan_matcher_2d_test.cc (97%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/correlative_scan_matcher_2d.cc (98%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/correlative_scan_matcher_2d.h (93%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/correlative_scan_matcher_test.cc (97%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/fast_correlative_scan_matcher_2d.cc (99%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/fast_correlative_scan_matcher_2d.h (94%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc (98%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/fast_global_localizer.cc (95%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/fast_global_localizer.h (83%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc (98%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/real_time_correlative_scan_matcher_2d.h (90%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc (97%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/rotation_delta_cost_functor_2d.h (87%)
 rename cartographer/mapping/{ => internal}/2d/scan_matching/translation_delta_cost_functor_2d.h (88%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/ceres_scan_matcher_3d.cc (94%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/ceres_scan_matcher_3d.h (90%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/ceres_scan_matcher_3d_test.cc (98%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/fast_correlative_scan_matcher_3d.cc (98%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/fast_correlative_scan_matcher_3d.h (92%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc (98%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/interpolated_grid.h (96%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/interpolated_grid_test.cc (97%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/low_resolution_matcher.cc (94%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/low_resolution_matcher.h (81%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/precomputation_grid_3d.cc (97%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/precomputation_grid_3d.h (89%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/precomputation_grid_3d_test.cc (97%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc (97%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/real_time_correlative_scan_matcher_3d.h (88%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc (95%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/rotation_delta_cost_functor_3d.h (91%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc (97%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/rotational_scan_matcher.cc (98%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/rotational_scan_matcher.h (88%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/rotational_scan_matcher_test.cc (96%)
 rename cartographer/mapping/{ => internal}/3d/scan_matching/translation_delta_cost_functor_3d.h (89%)

diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
index a6ced91..93b103e 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_2d.h
@@ -22,9 +22,9 @@
 
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/2d/proto/local_trajectory_builder_options_2d.pb.h"
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/submap_2d.h"
+#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/mapping/pose_extrapolator.h"
 #include "cartographer/metrics/family_factory.h"
diff --git a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
index 88f6401..438fb3b 100644
--- a/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
+++ b/cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.cc
@@ -16,9 +16,9 @@
 
 #include "cartographer/mapping/internal/2d/local_trajectory_builder_options_2d.h"
 
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/submap_2d.h"
+#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"
 
diff --git a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h b/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
index f0bf205..f2b1150 100644
--- a/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
+++ b/cartographer/mapping/internal/2d/pose_graph/constraint_builder_2d.h
@@ -30,9 +30,9 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/submap_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/metrics/family_factory.h"
diff --git a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.cc
similarity index 93%
rename from cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
rename to cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.cc
index 0169f59..b9fd6e1 100644
--- a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
 
 #include <utility>
 #include <vector>
@@ -23,9 +23,9 @@
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/lua_parameter_dictionary.h"
 #include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h"
-#include "cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h"
 #include "cartographer/mapping/internal/2d/scan_matching/occupied_space_cost_function_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h"
 #include "cartographer/transform/transform.h"
 #include "ceres/ceres.h"
 #include "glog/logging.h"
diff --git a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h
similarity index 89%
rename from cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h
index d517754..a88b855 100644
--- a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
 
 #include <memory>
 #include <vector>
@@ -62,4 +62,4 @@ class CeresScanMatcher2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CERES_SCAN_MATCHER_2D_H_
diff --git a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d_test.cc
similarity index 97%
rename from cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc
rename to cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d_test.cc
index 6cf4788..51cb1c6 100644
--- a/cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
 
 #include <memory>
 
diff --git a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.cc
similarity index 98%
rename from cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc
rename to cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.cc
index 12b8529..a825f80 100644
--- a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
 
 #include <cmath>
 
diff --git a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h
similarity index 93%
rename from cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h
index 205d5d9..a27c806 100644
--- a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
 
 #include <vector>
 
@@ -106,4 +106,4 @@ struct Candidate2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_CORRELATIVE_SCAN_MATCHER_2D_H_
diff --git a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_test.cc
similarity index 97%
rename from cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc
rename to cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_test.cc
index 6e16e90..923b299 100644
--- a/cartographer/mapping/2d/scan_matching/correlative_scan_matcher_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
 
 #include "cartographer/sensor/point_cloud.h"
 #include "gtest/gtest.h"
diff --git a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
similarity index 99%
rename from cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
rename to cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
index 7530f76..afe6439 100644
--- a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
diff --git a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h
similarity index 94%
rename from cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h
index 3f62e44..6ead8cd 100644
--- a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h
@@ -22,8 +22,8 @@
 // precomputation done for a given map. However, this map is immutable after
 // construction.
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
 
 #include <memory>
 #include <vector>
@@ -31,8 +31,8 @@
 #include "Eigen/Core"
 #include "cartographer/common/port.h"
 #include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/2d/scan_matching/proto/fast_correlative_scan_matcher_options_2d.pb.h"
+#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/probability_values.h"
 #include "cartographer/sensor/point_cloud.h"
 
@@ -153,4 +153,4 @@ class FastCorrelativeScanMatcher2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_2D_H_
diff --git a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
similarity index 98%
rename from cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
rename to cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
index d540d9e..6bc5b29 100644
--- a/cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
diff --git a/cartographer/mapping/2d/scan_matching/fast_global_localizer.cc b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
similarity index 95%
rename from cartographer/mapping/2d/scan_matching/fast_global_localizer.cc
rename to cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
index fab9d77..13a3ccd 100644
--- a/cartographer/mapping/2d/scan_matching/fast_global_localizer.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/fast_global_localizer.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h"
 
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/2d/scan_matching/fast_global_localizer.h b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
similarity index 83%
rename from cartographer/mapping/2d/scan_matching/fast_global_localizer.h
rename to cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
index ad8acfb..13bfb8d 100644
--- a/cartographer/mapping/2d/scan_matching/fast_global_localizer.h
+++ b/cartographer/mapping/internal/2d/scan_matching/fast_global_localizer.h
@@ -14,13 +14,13 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
 
 #include <vector>
 
 #include "Eigen/Geometry"
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/sensor/voxel_filter.h"
 
 namespace cartographer {
@@ -46,4 +46,4 @@ bool PerformGlobalLocalization(
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_FAST_GLOBAL_LOCALIZER_H_
diff --git a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
similarity index 98%
rename from cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
rename to cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
index f1d45e7..9d914f6 100644
--- a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 
 #include <algorithm>
 #include <cmath>
diff --git a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
similarity index 90%
rename from cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
index 406b7ff..dd0f73e 100644
--- a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
 
 // This is an implementation of the algorithm described in "Real-Time
 // Correlative Scan Matching" by Olson.
@@ -42,7 +42,7 @@
 
 #include "Eigen/Core"
 #include "cartographer/mapping/2d/probability_grid.h"
-#include "cartographer/mapping/2d/scan_matching/correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
 #include "cartographer/mapping/scan_matching/real_time_correlative_scan_matcher.h"
 
@@ -90,4 +90,4 @@ class RealTimeCorrelativeScanMatcher2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_2D_H_
diff --git a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
similarity index 97%
rename from cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
rename to cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
index d66c6fc..3a5df85 100644
--- a/cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
+++ b/cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 
 #include <cmath>
 #include <memory>
diff --git a/cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h b/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
similarity index 87%
rename from cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
index 17d4837..6edf469 100644
--- a/cartographer/mapping/2d/scan_matching/rotation_delta_cost_functor_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/rotation_delta_cost_functor_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
 
 #include "Eigen/Core"
 
@@ -57,4 +57,4 @@ class RotationDeltaCostFunctor2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_2D_H_
diff --git a/cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h b/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
similarity index 88%
rename from cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h
rename to cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
index ee9bfc0..e0c3d62 100644
--- a/cartographer/mapping/2d/scan_matching/translation_delta_cost_functor_2d.h
+++ b/cartographer/mapping/internal/2d/scan_matching/translation_delta_cost_functor_2d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
-#define CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
 
 #include "Eigen/Core"
 
@@ -64,4 +64,4 @@ class TranslationDeltaCostFunctor2D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_2D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_2D_H_
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
index c630d5d..4aac2c2 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.cc
@@ -23,7 +23,7 @@
 #include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
 #include "cartographer/mapping/3d/proto/submaps_options_3d.pb.h"
 #include "cartographer/mapping/3d/scan_matching/proto/ceres_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/mapping/scan_matching/proto/real_time_correlative_scan_matcher_options.pb.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
index 83127a5..3712f0c 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_3d.h
@@ -22,9 +22,9 @@
 
 #include "cartographer/common/time.h"
 #include "cartographer/mapping/3d/proto/local_trajectory_builder_options_3d.pb.h"
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
-#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/submap_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 #include "cartographer/mapping/internal/motion_filter.h"
 #include "cartographer/mapping/pose_extrapolator.h"
 #include "cartographer/metrics/family_factory.h"
diff --git a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
index 513aa22..21bd1d1 100644
--- a/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
+++ b/cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.cc
@@ -16,8 +16,8 @@
 
 #include "cartographer/mapping/internal/3d/local_trajectory_builder_options_3d.h"
 
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/submap_3d.h"
+#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"
diff --git a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h b/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
index 69e054a..82c0d16 100644
--- a/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
+++ b/cartographer/mapping/internal/3d/pose_graph/constraint_builder_3d.h
@@ -31,9 +31,9 @@
 #include "cartographer/common/math.h"
 #include "cartographer/common/mutex.h"
 #include "cartographer/common/thread_pool.h"
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
-#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
 #include "cartographer/mapping/3d/submap_3d.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/mapping/pose_graph/proto/constraint_builder_options.pb.h"
 #include "cartographer/mapping/pose_graph_interface.h"
 #include "cartographer/mapping/trajectory_node.h"
diff --git a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.cc
similarity index 94%
rename from cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
rename to cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.cc
index db71215..cc889f6 100644
--- a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
 
 #include <string>
 #include <utility>
@@ -22,10 +22,10 @@
 
 #include "cartographer/common/ceres_solver_options.h"
 #include "cartographer/common/make_unique.h"
-#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h"
-#include "cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h"
 #include "cartographer/mapping/internal/3d/rotation_parameterization.h"
 #include "cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h"
 #include "cartographer/mapping/internal/pose_graph/ceres_pose.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
diff --git a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h
similarity index 90%
rename from cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h
index 63b1e3e..9e064b0 100644
--- a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
 
 #include <utility>
 #include <vector>
@@ -64,4 +64,4 @@ class CeresScanMatcher3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_CERES_SCAN_MATCHER_3D_H_
diff --git a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d_test.cc
similarity index 98%
rename from cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d_test.cc
index f013ac2..2244b78 100644
--- a/cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/ceres_scan_matcher_3d.h"
 
 #include <memory>
 
diff --git a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
similarity index 98%
rename from cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
rename to cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
index ba020ab..22e5f3d 100644
--- a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
 
 #include <algorithm>
 #include <cmath>
@@ -24,9 +24,9 @@
 #include "Eigen/Geometry"
 #include "cartographer/common/make_unique.h"
 #include "cartographer/common/math.h"
-#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
-#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
 #include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
+#include "cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h"
+#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
 #include "cartographer/transform/transform.h"
 #include "glog/logging.h"
 
diff --git a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h
similarity index 92%
rename from cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h
index 1f7b59d..0fcacc7 100644
--- a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h
@@ -17,18 +17,18 @@
 // This is an implementation of a 3D branch-and-bound algorithm similar to
 // FastCorrelativeScanMatcher2D.
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
 
 #include <memory>
 #include <vector>
 
 #include "Eigen/Core"
 #include "cartographer/common/port.h"
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/3d/hybrid_grid.h"
 #include "cartographer/mapping/3d/scan_matching/proto/fast_correlative_scan_matcher_options_3d.pb.h"
-#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
+#include "cartographer/mapping/internal/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
 #include "cartographer/mapping/trajectory_node.h"
 #include "cartographer/sensor/point_cloud.h"
 
@@ -138,4 +138,4 @@ class FastCorrelativeScanMatcher3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_FAST_CORRELATIVE_SCAN_MATCHER_3D_H_
diff --git a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
similarity index 98%
rename from cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
index c60297e..16487ff 100644
--- a/cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
 
 #include <algorithm>
 #include <cmath>
diff --git a/cartographer/mapping/3d/scan_matching/interpolated_grid.h b/cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h
similarity index 96%
rename from cartographer/mapping/3d/scan_matching/interpolated_grid.h
rename to cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h
index 3d11cff..d2b30d7 100644
--- a/cartographer/mapping/3d/scan_matching/interpolated_grid.h
+++ b/cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
 
 #include <cmath>
 
@@ -152,4 +152,4 @@ class InterpolatedGrid {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_INTERPOLATED_GRID_H_
diff --git a/cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc b/cartographer/mapping/internal/3d/scan_matching/interpolated_grid_test.cc
similarity index 97%
rename from cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/interpolated_grid_test.cc
index f3bbbf3..f11126d 100644
--- a/cartographer/mapping/3d/scan_matching/interpolated_grid_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/interpolated_grid_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
+#include "cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h"
 
 #include "Eigen/Core"
 #include "cartographer/mapping/3d/hybrid_grid.h"
diff --git a/cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc b/cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.cc
similarity index 94%
rename from cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc
rename to cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.cc
index c8bebe1..cead84b 100644
--- a/cartographer/mapping/3d/scan_matching/low_resolution_matcher.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/low_resolution_matcher.h"
+#include "cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h"
 
 namespace cartographer {
 namespace mapping {
diff --git a/cartographer/mapping/3d/scan_matching/low_resolution_matcher.h b/cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h
similarity index 81%
rename from cartographer/mapping/3d/scan_matching/low_resolution_matcher.h
rename to cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h
index f202140..4c2fe48 100644
--- a/cartographer/mapping/3d/scan_matching/low_resolution_matcher.h
+++ b/cartographer/mapping/internal/3d/scan_matching/low_resolution_matcher.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
 
 #include <functional>
 
@@ -34,4 +34,4 @@ std::function<float(const transform::Rigid3f&)> CreateLowResolutionMatcher(
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_LOW_RESOLUTION_MATCHER_H_
diff --git a/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h b/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
index 594aaa1..a6aabb1 100644
--- a/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/occupied_space_cost_function_3d.h
@@ -19,7 +19,7 @@
 
 #include "Eigen/Core"
 #include "cartographer/mapping/3d/hybrid_grid.h"
-#include "cartographer/mapping/3d/scan_matching/interpolated_grid.h"
+#include "cartographer/mapping/internal/3d/scan_matching/interpolated_grid.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/transform.h"
diff --git a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.cc
similarity index 97%
rename from cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc
rename to cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.cc
index ecf014c..2dec03d 100644
--- a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
 
 #include <algorithm>
 
diff --git a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h
similarity index 89%
rename from cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h
index a1dc68c..c9b3caf 100644
--- a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
 
 #include "cartographer/mapping/3d/hybrid_grid.h"
 
@@ -53,4 +53,4 @@ PrecomputationGrid3D PrecomputeGrid(const PrecomputationGrid3D& grid,
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_PRECOMPUTATION_GRID_3D_H_
diff --git a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d_test.cc
similarity index 97%
rename from cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d_test.cc
index 749b3b3..85e6f29 100644
--- a/cartographer/mapping/3d/scan_matching/precomputation_grid_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/precomputation_grid_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/precomputation_grid_3d.h"
 
 #include <random>
 #include <tuple>
diff --git a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
similarity index 97%
rename from cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
rename to cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
index 14b74c9..a9babd2 100644
--- a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 
 #include <cmath>
 
diff --git a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
similarity index 88%
rename from cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
index f955d73..85af508 100644
--- a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
 
 #include <vector>
 
@@ -63,4 +63,4 @@ class RealTimeCorrelativeScanMatcher3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_REAL_TIME_CORRELATIVE_SCAN_MATCHER_3D_H_
diff --git a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
similarity index 95%
rename from cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
index f473a7b..23dd429 100644
--- a/cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d_test.cc
@@ -14,14 +14,14 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/real_time_correlative_scan_matcher_3d.h"
 
 #include <memory>
 
 #include "Eigen/Core"
 #include "cartographer/common/lua_parameter_dictionary_test_helpers.h"
-#include "cartographer/mapping/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/mapping/3d/hybrid_grid.h"
+#include "cartographer/mapping/internal/2d/scan_matching/real_time_correlative_scan_matcher_2d.h"
 #include "cartographer/sensor/point_cloud.h"
 #include "cartographer/transform/rigid_transform.h"
 #include "cartographer/transform/rigid_transform_test_helpers.h"
diff --git a/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h b/cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h
similarity index 91%
rename from cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h
index 5c83398..cf32060 100644
--- a/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
 
 #include <cmath>
 
@@ -79,4 +79,4 @@ class RotationDeltaCostFunctor3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATION_DELTA_COST_FUNCTOR_3D_H_
diff --git a/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc b/cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
similarity index 97%
rename from cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
index 18d9328..86f46d4 100644
--- a/cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/rotation_delta_cost_functor_3d.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotation_delta_cost_functor_3d.h"
 
 #include "gtest/gtest.h"
 
diff --git a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.cc
similarity index 98%
rename from cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc
rename to cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.cc
index 348a77e..2e2e92f 100644
--- a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
 
 #include <map>
 #include <vector>
diff --git a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h
similarity index 88%
rename from cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h
rename to cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h
index 31897e9..51156f0 100644
--- a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h
+++ b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
 
 #include <vector>
 
@@ -54,4 +54,4 @@ class RotationalScanMatcher {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_ROTATIONAL_SCAN_MATCHER_H_
diff --git a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher_test.cc
similarity index 96%
rename from cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc
rename to cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher_test.cc
index fabebc7..c84e677 100644
--- a/cartographer/mapping/3d/scan_matching/rotational_scan_matcher_test.cc
+++ b/cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher_test.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "cartographer/mapping/3d/scan_matching/rotational_scan_matcher.h"
+#include "cartographer/mapping/internal/3d/scan_matching/rotational_scan_matcher.h"
 
 #include <cmath>
 
diff --git a/cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h b/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
similarity index 89%
rename from cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h
rename to cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
index d00a1c2..91464fa 100644
--- a/cartographer/mapping/3d/scan_matching/translation_delta_cost_functor_3d.h
+++ b/cartographer/mapping/internal/3d/scan_matching/translation_delta_cost_functor_3d.h
@@ -14,8 +14,8 @@
  * limitations under the License.
  */
 
-#ifndef CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
-#define CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
+#ifndef CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
+#define CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
 
 #include "Eigen/Core"
 
@@ -67,4 +67,4 @@ class TranslationDeltaCostFunctor3D {
 }  // namespace mapping
 }  // namespace cartographer
 
-#endif  // CARTOGRAPHER_MAPPING_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
+#endif  // CARTOGRAPHER_MAPPING_INTERNAL_3D_SCAN_MATCHING_TRANSLATION_DELTA_COST_FUNCTOR_3D_H_
diff --git a/cartographer/mapping/internal/pose_graph/constraint_builder.cc b/cartographer/mapping/internal/pose_graph/constraint_builder.cc
index 11cd89e..3753655 100644
--- a/cartographer/mapping/internal/pose_graph/constraint_builder.cc
+++ b/cartographer/mapping/internal/pose_graph/constraint_builder.cc
@@ -16,10 +16,10 @@
 
 #include "cartographer/mapping/internal/pose_graph/constraint_builder.h"
 
-#include "cartographer/mapping/2d/scan_matching/ceres_scan_matcher_2d.h"
-#include "cartographer/mapping/2d/scan_matching/fast_correlative_scan_matcher_2d.h"
-#include "cartographer/mapping/3d/scan_matching/ceres_scan_matcher_3d.h"
-#include "cartographer/mapping/3d/scan_matching/fast_correlative_scan_matcher_3d.h"
+#include "cartographer/mapping/internal/2d/scan_matching/ceres_scan_matcher_2d.h"
+#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"
 
 namespace cartographer {