diff --git a/examples/gps_imu_example.cpp b/examples/gps_imu_example.cpp
index dde6499..54666be 100644
--- a/examples/gps_imu_example.cpp
+++ b/examples/gps_imu_example.cpp
@@ -17,6 +17,7 @@
 #include "utils/Utils.h"
 
 namespace po = boost::program_options;
+using namespace ceres_nav;
 
 po::variables_map handle_args(int argc, const char *argv[]) {
   po::options_description options("Allowed options");
@@ -91,7 +92,7 @@ void runSlidingWindowEstimator(
   // Create the initial IMU increment
   IMUIncrement imu_increment(
       Q_ct, init_imu_state.gyroBias(), init_imu_state.accelBias(),
-      init_imu_state.timestamp(), gravity, lie_direction);
+      init_imu_state.timestamp(), gravity, lie_direction, state_rep);
   IMUState cur_imu_state = init_imu_state;
   double prev_gps_timestamp = gps_data[0].timestamp;
   std::vector<double> est_stamps;
@@ -186,7 +187,7 @@ void runFullBatchEstimator(
   size_t imu_idx = 0;
   IMUIncrement imu_increment(
       Q_ct, init_imu_state.gyroBias(), init_imu_state.accelBias(),
-      init_imu_state.timestamp(), gravity, lie_direction);
+      init_imu_state.timestamp(), gravity, lie_direction, state_rep);
 
   IMUState cur_imu_state = init_imu_state;
   double prev_gps_timestamp = gps_data[0].timestamp;
diff --git a/examples/include/FactorGraphUtils.h b/examples/include/FactorGraphUtils.h
index 2637bf6..a2de62f 100644
--- a/examples/include/FactorGraphUtils.h
+++ b/examples/include/FactorGraphUtils.h
@@ -21,20 +21,22 @@
 
 namespace factor_graph_utils {
 
+using namespace ceres_nav;
+
 struct ProblemKeys {
   std::string nav_state_key = "nav_state";
   std::string bias_state_key = "gyro_bias";
 };
 
 void addIMUState(
-    ceres_nav::FactorGraph &graph, const IMUState &imu_state,
+    FactorGraph &graph, const IMUState &imu_state,
     const LieDirection direction,
     ExtendedPoseRepresentation state_rep = ExtendedPoseRepresentation::SE23,
     ProblemKeys keys = ProblemKeys()) {
   // Create a new ExtendedPoseParameterBlock for the IMU state
   std::shared_ptr<ExtendedPoseParameterBlock> nav_state_block =
-      std::make_shared<ExtendedPoseParameterBlock>(imu_state.navState(),
-                                                   state_rep, "extended_pose", direction);
+      std::make_shared<ExtendedPoseParameterBlock>(
+          imu_state.navState(), state_rep, "extended_pose", direction);
   std::shared_ptr<ParameterBlock<6>> bias_block =
       std::make_shared<ParameterBlock<6>>(imu_state.bias());
 
@@ -42,14 +44,14 @@ void addIMUState(
   graph.addState(keys.bias_state_key, imu_state.timestamp(), bias_block);
 };
 
-void addPriorFactor(ceres_nav::FactorGraph &graph,
+void addPriorFactor(FactorGraph &graph,
                     const IMUState prior_imu_state,
                     const Eigen::Matrix<double, 15, 15> &prior_covariance,
                     LieDirection direction,
                     ExtendedPoseRepresentation state_rep, ProblemKeys keys) {
-  std::vector<ceres_nav::StateID> state_ids = {
-      ceres_nav::StateID(keys.nav_state_key, prior_imu_state.timestamp()),
-      ceres_nav::StateID(keys.bias_state_key, prior_imu_state.timestamp())};
+  std::vector<StateID> state_ids = {
+      StateID(keys.nav_state_key, prior_imu_state.timestamp()),
+      StateID(keys.bias_state_key, prior_imu_state.timestamp())};
 
   auto *factor =
       new IMUPriorFactor(prior_imu_state.navState(), prior_imu_state.bias(),
@@ -64,13 +66,13 @@ void addPreintegrationFactor(ceres_nav::FactorGraph &graph,
                              ProblemKeys keys = ProblemKeys()) {
   double start_stamp = imu_increment.start_stamp;
   double end_stamp = imu_increment.end_stamp;
-  std::vector<ceres_nav::StateID> state_ids = {
-      ceres_nav::StateID(keys.nav_state_key, start_stamp),
-      ceres_nav::StateID(keys.bias_state_key, start_stamp),
-      ceres_nav::StateID(keys.nav_state_key, end_stamp),
-      ceres_nav::StateID(keys.bias_state_key, end_stamp)};
+  std::vector<StateID> state_ids = {
+      StateID(keys.nav_state_key, start_stamp),
+      StateID(keys.bias_state_key, start_stamp),
+      StateID(keys.nav_state_key, end_stamp),
+      StateID(keys.bias_state_key, end_stamp)};
 
-  auto *factor = new IMUPreintegrationFactor(imu_increment, false, direction, state_rep);
+  auto *factor = new IMUPreintegrationFactor(imu_increment, false);
   graph.addFactor(state_ids, factor, start_stamp);
 }
 
@@ -82,12 +84,13 @@ void addGPSFactor(
     const LieDirection &direction, const Eigen::Matrix3d &covariance,
     ExtendedPoseRepresentation state_rep = ExtendedPoseRepresentation::SE23,
     ProblemKeys keys = ProblemKeys()) {
-  Eigen::Matrix3d sqrt_info = ceres_nav::computeSquareRootInformation(covariance);
+  Eigen::Matrix3d sqrt_info =
+      ceres_nav::computeSquareRootInformation(covariance);
 
-  std::vector<ceres_nav::StateID> state_ids = {
-      ceres_nav::StateID(keys.nav_state_key, gps_message.timestamp)};
-  auto factor =
-      new AbsolutePositionFactor(gps_message.measurement, direction, sqrt_info, state_rep);
+  std::vector<StateID> state_ids = {
+      StateID(keys.nav_state_key, gps_message.timestamp)};
+  auto factor = new AbsolutePositionFactor(gps_message.measurement, direction,
+                                           sqrt_info, state_rep);
   graph.addFactor(state_ids, factor, gps_message.timestamp);
 }
 
@@ -135,9 +138,9 @@ computeIMUCovariance(ceres_nav::FactorGraph &graph, double timestamp,
 
 void marginalizeIMUState(ceres_nav::FactorGraph &graph, double timestamp_marg,
                          ProblemKeys keys) {
-  std::vector<ceres_nav::StateID> state_ids_marg = {
-      ceres_nav::StateID(keys.nav_state_key, timestamp_marg),
-      ceres_nav::StateID(keys.bias_state_key, timestamp_marg)};
+  std::vector<StateID> state_ids_marg = {
+      StateID(keys.nav_state_key, timestamp_marg),
+      StateID(keys.bias_state_key, timestamp_marg)};
 
   graph.marginalizeStates(state_ids_marg);
 }
diff --git a/examples/include/GPSIMUExampleUtils.h b/examples/include/GPSIMUExampleUtils.h
index 07d75ce..281ce80 100644
--- a/examples/include/GPSIMUExampleUtils.h
+++ b/examples/include/GPSIMUExampleUtils.h
@@ -219,7 +219,7 @@ std::vector<IMUState> loadIMUStates(const std::string &fname) {
     Eigen::Vector3d accel_bias{values[14], values[15], values[16]};
 
     Eigen::Matrix<double, 5, 5> nav_state =
-        SE23::fromComponents(C_ab, velocity, position);
+        ceres_nav::SE23::fromComponents(C_ab, velocity, position);
     imu_states.push_back(IMUState(nav_state, gyro_bias, accel_bias, stamp));
   }
 
@@ -233,9 +233,9 @@ void propagateIMUState(IMUState &state, const IMUMessage &imu_msg, const Eigen::
   Eigen::Vector3d unbiased_gyro = imu_msg.gyro - state.gyroBias();
   Eigen::Vector3d unbiased_accel = imu_msg.accel - state.accelBias();
 
-  Eigen::Matrix<double, 5, 5> G = createGMatrix(gravity, dt);
+  Eigen::Matrix<double, 5, 5> G = ceres_nav::createGMatrix(gravity, dt);
   Eigen::Matrix<double, 5, 5> U =
-      createUMatrix(unbiased_gyro, unbiased_accel, dt);
+      ceres_nav::createUMatrix(unbiased_gyro, unbiased_accel, dt);
 
   Eigen::Matrix<double, 5, 5> prev_extended_pose = state.navState();
   Eigen::Matrix<double, 5, 5> next_extended_pose = G * prev_extended_pose * U;
diff --git a/include/factors/AbsolutePositionFactor.h b/include/factors/AbsolutePositionFactor.h
index dc32ca6..5a77d58 100644
--- a/include/factors/AbsolutePositionFactor.h
+++ b/include/factors/AbsolutePositionFactor.h
@@ -7,6 +7,8 @@
 #include "lib/ExtendedPoseParameterBlock.h"
 #include "lie/LieDirection.h"
 
+namespace ceres_nav {
+
 class AbsolutePositionFactor : public ceres::SizedCostFunction<3, 15> {
 public:
   Eigen::Vector3d meas;
@@ -29,3 +31,5 @@ class AbsolutePositionFactor : public ceres::SizedCostFunction<3, 15> {
   bool Evaluate(double const *const *parameters, double *residuals,
                 double **jacobians) const override;
 };
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/factors/IMUPreintegrationFactor.h b/include/factors/IMUPreintegrationFactor.h
index bad12ae..699b269 100644
--- a/include/factors/IMUPreintegrationFactor.h
+++ b/include/factors/IMUPreintegrationFactor.h
@@ -7,6 +7,7 @@
 #include "imu/IMUIncrement.h"
 #include "imu/IMUPreintegrationHelper.h"
 
+namespace ceres_nav {
 class IMUPreintegrationFactor
     : public ceres::SizedCostFunction<15, 15, 6, 15, 6> {
 public:
@@ -29,9 +30,7 @@ class IMUPreintegrationFactor
    * time, and a continuous-time noise matrix.
    */
   IMUPreintegrationFactor(
-      IMUIncrement imu_increment_, bool use_group_jacobians_,
-      const LieDirection &direction_,
-      ExtendedPoseRepresentation pose_rep_ = ExtendedPoseRepresentation::SE23);
+      const IMUIncrement &imu_increment_, bool use_group_jacobians_);
 
   IMUPreintegrationFactor() = delete;
   /**
@@ -40,3 +39,5 @@ class IMUPreintegrationFactor
   virtual bool Evaluate(double const *const *parameters, double *residuals,
                         double **jacobians) const;
 };
+
+} // namespace ceres_nav
diff --git a/include/factors/IMUPriorFactor.h b/include/factors/IMUPriorFactor.h
index 6b4b996..8385155 100644
--- a/include/factors/IMUPriorFactor.h
+++ b/include/factors/IMUPriorFactor.h
@@ -5,6 +5,8 @@
 #include <Eigen/Dense>
 #include <ceres/ceres.h>
 
+namespace ceres_nav {
+
 class IMUPriorFactor : public ceres::SizedCostFunction<15, 15, 6> {
 public:
   /**
@@ -32,4 +34,6 @@ class IMUPriorFactor : public ceres::SizedCostFunction<15, 15, 6> {
   Eigen::Matrix<double, 15, 15> sqrt_info_;
   LieDirection direction_;
   ExtendedPoseRepresentation pose_rep_;
-};
\ No newline at end of file
+};
+
+}
\ No newline at end of file
diff --git a/include/factors/RelativeLandmarkFactor.h b/include/factors/RelativeLandmarkFactor.h
index d6ed3c5..afe7f34 100644
--- a/include/factors/RelativeLandmarkFactor.h
+++ b/include/factors/RelativeLandmarkFactor.h
@@ -6,6 +6,7 @@
 
 #include "lib/ExtendedPoseParameterBlock.h"
 
+namespace ceres_nav {
 /**
  * @brief A factor for relative landmark measurements of the form
  *    y = C_ab.T * (r_pw_a - r_zw_a),
@@ -40,4 +41,6 @@ class RelativeLandmarkFactor : public ceres::SizedCostFunction<3, 15> {
    */
   bool Evaluate(double const *const *parameters, double *residuals,
                 double **jacobians) const;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
diff --git a/include/factors/RelativePoseFactor.h b/include/factors/RelativePoseFactor.h
index 1d0bd60..6716982 100644
--- a/include/factors/RelativePoseFactor.h
+++ b/include/factors/RelativePoseFactor.h
@@ -5,6 +5,8 @@
 
 #include "lie/LieDirection.h"
 
+namespace ceres_nav {
+
 class RelativePoseFactor : public ceres::SizedCostFunction<6, 12, 12> {
 public:
   Eigen::Matrix4d relative_pose_meas;
@@ -21,4 +23,6 @@ class RelativePoseFactor : public ceres::SizedCostFunction<6, 12, 12> {
    */
   virtual bool Evaluate(double const *const *parameters, double *residuals,
                         double **jacobians) const;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/imu/IMUHelper.h b/include/imu/IMUHelper.h
index 714d4fc..8bda1f5 100644
--- a/include/imu/IMUHelper.h
+++ b/include/imu/IMUHelper.h
@@ -2,17 +2,18 @@
 
 /*
  * Some helper functions for IMU preintegration.
-*/
+ */
 
 #include <Eigen/Dense>
 #include <vector>
 
+namespace ceres_nav {
 class IMUIncrement;
 class IMU;
 
 Eigen::Matrix<double, 5, 5> createGMatrix(const Eigen::Vector3d &gravity,
                                           double dt);
-                                          
+
 Eigen::Matrix3d createNMatrix(const Eigen::Vector3d &phi_vec);
 Eigen::Matrix<double, 5, 5> createUMatrix(const Eigen::Vector3d &omega,
                                           const Eigen::Vector3d &accel,
@@ -35,4 +36,5 @@ std::vector<IMU> getIMUBetweenTimes(const double &stamp_i,
                                     const std::vector<IMU> &imu_meas_vec);
 bool preintegrateBetweenTimes(IMUIncrement &rmi, const double &stamp_i,
                               const double &stamp_j,
-                              const std::vector<IMU> &imu_meas_vec);
\ No newline at end of file
+                              const std::vector<IMU> &imu_meas_vec);
+} // namespace ceres_name
\ No newline at end of file
diff --git a/include/imu/IMUIncrement.h b/include/imu/IMUIncrement.h
index df81139..e0e7a12 100644
--- a/include/imu/IMUIncrement.h
+++ b/include/imu/IMUIncrement.h
@@ -5,6 +5,8 @@
 #include <Eigen/Dense>
 #include <vector>
 
+namespace ceres_nav {
+
 class IMUIncrement {
 public:
   // Initial gyro and accel bias
@@ -90,3 +92,5 @@ class IMUIncrement {
       const Eigen::Vector3d &accel, Eigen::Matrix<double, 15, 15> &A_ct,
       Eigen::Matrix<double, 15, 12> &L_ct);
 };
+
+} // namespace ceres_nav
diff --git a/include/imu/IMUPreintegrationHelper.h b/include/imu/IMUPreintegrationHelper.h
index 751e8d9..8af0b29 100644
--- a/include/imu/IMUPreintegrationHelper.h
+++ b/include/imu/IMUPreintegrationHelper.h
@@ -5,6 +5,7 @@
 
 #include "imu/IMUIncrement.h"
 
+namespace ceres_nav {
 /**
  * @brief Simple struct to hold the IMU state components.
  */
@@ -34,9 +35,7 @@ struct IMUStateHolder {
 class IMUPreintegrationHelper {
 public:
   IMUPreintegrationHelper(const IMUIncrement &imu_increment,
-                          bool use_group_jacobians,
-                          const LieDirection &direction,
-                          ExtendedPoseRepresentation pose_rep);
+                          bool use_group_jacobians);
 
   // Main method to compute Jacobians based on representation and direction
   std::vector<Eigen::Matrix<double, 15, 15>>
@@ -68,7 +67,7 @@ class IMUPreintegrationHelper {
 
   // Gets the covariance of the preintegrated measurement
   Eigen::Matrix<double, 15, 15> covariance() const { return rmi.covariance; }
-  
+
   double startStamp() const { return rmi.start_stamp; }
   double endStamp() const { return rmi.end_stamp; }
 
@@ -77,4 +76,6 @@ class IMUPreintegrationHelper {
   bool use_group_jacobians;
   LieDirection direction;
   ExtendedPoseRepresentation pose_rep;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lib/ExtendedPoseParameterBlock.h b/include/lib/ExtendedPoseParameterBlock.h
index cc8fa54..12bb3cf 100644
--- a/include/lib/ExtendedPoseParameterBlock.h
+++ b/include/lib/ExtendedPoseParameterBlock.h
@@ -10,6 +10,8 @@
 #include "local_parameterizations/ExtendedPoseLocalParameterization.h"
 #include "local_parameterizations/SE23LocalParameterization.h"
 
+namespace ceres_nav {
+
 enum class ExtendedPoseRepresentation { SE23, Decoupled };
 
 /**
@@ -117,4 +119,6 @@ class ExtendedPoseParameterBlock : public ParameterBlock<15, 9> {
 
 protected:
   LieDirection direction_;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lib/ParameterBlock.h b/include/lib/ParameterBlock.h
index d2edc63..9069e61 100644
--- a/include/lib/ParameterBlock.h
+++ b/include/lib/ParameterBlock.h
@@ -3,6 +3,8 @@
 #include "ParameterBlockBase.h"
 #include <Eigen/Dense>
 
+namespace ceres_nav {
+
 /**
  * @brief Templated parameter block for optimization in Ceres.
  *
@@ -81,4 +83,6 @@ class ParameterBlock : public ParameterBlockBase {
   // Storage for the parameter estimate and covariance
   Eigen::Matrix<double, Dim, 1> estimate_;
   Eigen::Matrix<double, MinimalDim, MinimalDim> covariance_;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
diff --git a/include/lib/ParameterBlockBase.h b/include/lib/ParameterBlockBase.h
index bcc7ed4..a4f3432 100644
--- a/include/lib/ParameterBlockBase.h
+++ b/include/lib/ParameterBlockBase.h
@@ -4,6 +4,7 @@
 #include <ceres/ceres.h>
 #include <memory>
 
+namespace ceres_nav {
 /**
  * @brief Abstract base class for parameter blocks in
  * Ceres.
@@ -70,4 +71,6 @@ class ParameterBlockBase {
 
   // Local parameterization for this parameter block
   ceres::LocalParameterization *local_parameterization_ptr_;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
diff --git a/include/lib/PoseParameterBlock.h b/include/lib/PoseParameterBlock.h
index 2f52b50..13c9a98 100644
--- a/include/lib/PoseParameterBlock.h
+++ b/include/lib/PoseParameterBlock.h
@@ -6,6 +6,8 @@
 #include "lie/SO3.h"
 #include "local_parameterizations/PoseLocalParameterization.h"
 
+namespace ceres_nav {
+
 /**
  * @brief Parameter block for SE(3) poses.
  *
@@ -27,13 +29,14 @@ class PoseParameterBlock : public ParameterBlock<12, 6> {
   }
 
   // Construct directly from a pose in SE(3)
-  PoseParameterBlock(const Eigen::Matrix4d &pose, const std::string &name = "pose_parameter_block",
+  PoseParameterBlock(const Eigen::Matrix4d &pose,
+                     const std::string &name = "pose_parameter_block",
                      LieDirection direction = LieDirection::left)
       : PoseParameterBlock(name, direction) {
     Eigen::Matrix3d C = pose.block<3, 3>(0, 0);
     Eigen::Vector3d r = pose.block<3, 1>(0, 3);
     setFromAttitudeAndPosition(C, r);
-  } 
+  }
   /**
    * @brief Set the estimate from rotation and position.
    */
@@ -88,4 +91,6 @@ class PoseParameterBlock : public ParameterBlock<12, 6> {
                             double *jacobian) const override final {
     local_parameterization_ptr_->ComputeJacobian(x0, jacobian);
   }
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
diff --git a/include/lib/SO3ParameterBlock.h b/include/lib/SO3ParameterBlock.h
index 0ef5229..94a65b7 100644
--- a/include/lib/SO3ParameterBlock.h
+++ b/include/lib/SO3ParameterBlock.h
@@ -6,6 +6,8 @@
 
 #include "local_parameterizations/SO3LocalParameterization.h"
 
+namespace ceres_nav {
+
 /**
  * @brief Parameter block for SO(3) rotations.
  *
@@ -53,4 +55,6 @@ class SO3ParameterBlock : public ParameterBlock<9, 3> {
                             double *jacobian) const override final {
     local_parameterization_ptr_->ComputeJacobian(x0, jacobian);
   }
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lib/StateCollection.h b/include/lib/StateCollection.h
index 0e1e71e..45d8f21 100644
--- a/include/lib/StateCollection.h
+++ b/include/lib/StateCollection.h
@@ -11,6 +11,8 @@ namespace ceres_nav {
   struct StateID;
 }
 
+namespace ceres_nav {
+
 /**
  * @brief Holds a collection of states in time, accessible by a string key and a
  * timestamp.
@@ -92,7 +94,7 @@ class StateCollection {
    * 
    * Returns false if the pointer is not found.
    */
-  bool getStateIDByEstimatePointer(double *ptr, ceres_nav::StateID &state_id) const;
+  bool getStateIDByEstimatePointer(double *ptr, StateID &state_id) const;
 
 
   // Check if a state exists at a given timestamp
@@ -184,4 +186,6 @@ class StateCollection {
   std::unordered_map<std::string,
                      std::map<int64_t, std::shared_ptr<ParameterBlockBase>>>
       states_;
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lie/LieDirection.h b/include/lie/LieDirection.h
index 894365c..4a9d97c 100644
--- a/include/lie/LieDirection.h
+++ b/include/lie/LieDirection.h
@@ -1,3 +1,5 @@
-#pragma once 
+#pragma once
 
-enum class LieDirection { left, right };
\ No newline at end of file
+namespace ceres_nav {
+    enum class LieDirection { left, right };
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lie/SE23.h b/include/lie/SE23.h
index 5d1934f..8fe8aed 100644
--- a/include/lie/SE23.h
+++ b/include/lie/SE23.h
@@ -4,6 +4,8 @@
 #include <cmath>
 #include "lie/LieDirection.h"
 
+namespace ceres_nav {
+
 class SE23 {
 public:
   static constexpr float small_angle_tol = 1e-7;
@@ -38,4 +40,6 @@ class SE23 {
   static Eigen::Matrix<double, 9, 1> minus(const Eigen::Matrix<double, 5, 5> &Y,
                                            const Eigen::Matrix<double, 5, 5> &X,
                                            LieDirection direction);
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
diff --git a/include/lie/SE3.h b/include/lie/SE3.h
index d77e0c7..09db6c5 100644
--- a/include/lie/SE3.h
+++ b/include/lie/SE3.h
@@ -4,6 +4,8 @@
 
 #include "lie/LieDirection.h"
 
+namespace ceres_nav {
+
 class SE3 {
 public:
   static constexpr float small_angle_tol = 1e-7;
@@ -31,4 +33,6 @@ class SE3 {
   static Eigen::Matrix<double, 6, 1> minus(const Eigen::Matrix<double, 4, 4> &Y,
                                            const Eigen::Matrix<double, 4, 4> &X,
                                            LieDirection direction);
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/lie/SO3.h b/include/lie/SO3.h
index 987c304..562566d 100644
--- a/include/lie/SO3.h
+++ b/include/lie/SO3.h
@@ -5,6 +5,8 @@
 
 #include "lie/LieDirection.h"
 
+namespace ceres_nav {
+
 class SO3 {
 public:
   static Eigen::Matrix3d cross(const Eigen::Vector3d &x);
@@ -26,4 +28,6 @@ class SO3 {
   static Eigen::Vector3d minus(const Eigen::Matrix3d &Y,
                                const Eigen::Matrix3d &X,
                                const LieDirection &direction);
-};
\ No newline at end of file
+};
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/local_parameterizations/DecoupledExtendedPoseLocalParameterization.h b/include/local_parameterizations/DecoupledExtendedPoseLocalParameterization.h
index 36b5125..9d38baa 100644
--- a/include/local_parameterizations/DecoupledExtendedPoseLocalParameterization.h
+++ b/include/local_parameterizations/DecoupledExtendedPoseLocalParameterization.h
@@ -1,15 +1,18 @@
 #pragma once
 
-#include "ExtendedPoseLocalParameterization.h"  
+#include "ExtendedPoseLocalParameterization.h"
 // #include <ceres/ceres.h>
 
-class DecoupledExtendedPoseLocalParameterization : public ExtendedPoseLocalParameterization {
+namespace ceres_nav {
+class DecoupledExtendedPoseLocalParameterization
+    : public ExtendedPoseLocalParameterization {
 public:
   using ExtendedPoseLocalParameterization::ExtendedPoseLocalParameterization;
   ~DecoupledExtendedPoseLocalParameterization() override = default;
-  
+
   /**
    * @brief State update funciton for the extended Pose state.
    */
   bool Plus(const double *x, const double *delta, double *x_plus_delta) const;
 };
+} // namespace ceres_nav
diff --git a/include/local_parameterizations/ExtendedPoseLocalParameterization.h b/include/local_parameterizations/ExtendedPoseLocalParameterization.h
index c436e64..44a8a7b 100644
--- a/include/local_parameterizations/ExtendedPoseLocalParameterization.h
+++ b/include/local_parameterizations/ExtendedPoseLocalParameterization.h
@@ -4,6 +4,8 @@
 #include <Eigen/Dense>
 #include <ceres/ceres.h>
 
+namespace ceres_nav {
+
 class ExtendedPoseLocalParameterization : public ceres::LocalParameterization {
 public:
   ExtendedPoseLocalParameterization(LieDirection direction = LieDirection::left)
@@ -11,11 +13,12 @@ class ExtendedPoseLocalParameterization : public ceres::LocalParameterization {
 
   // Destructor
   ~ExtendedPoseLocalParameterization() override = default;
-  
+
   /**
    * @brief State update funciton for the extended Pose state.
    */
-  virtual bool Plus(const double *x, const double *delta, double *x_plus_delta) const = 0;
+  virtual bool Plus(const double *x, const double *delta,
+                    double *x_plus_delta) const = 0;
   bool ComputeJacobian(const double *x, double *jacobian) const;
   int GlobalSize() const { return 15; };
   int LocalSize() const { return 9; };
@@ -32,7 +35,7 @@ class ExtendedPoseLocalParameterization : public ceres::LocalParameterization {
   // Set the direction
   void setDirection(LieDirection direction) { _direction = direction; }
 
-
 protected:
   LieDirection _direction;
 };
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/local_parameterizations/PoseLocalParameterization.h b/include/local_parameterizations/PoseLocalParameterization.h
index 33ad4ac..9251f85 100644
--- a/include/local_parameterizations/PoseLocalParameterization.h
+++ b/include/local_parameterizations/PoseLocalParameterization.h
@@ -1,14 +1,15 @@
 #pragma once
 
+#include "lie/LieDirection.h"
 #include <Eigen/Dense>
 #include <ceres/ceres.h>
-#include "lie/LieDirection.h"
 
+namespace ceres_nav {
 class PoseLocalParameterization : public ceres::LocalParameterization {
 public:
   PoseLocalParameterization(LieDirection direction = LieDirection::left)
       : _direction(direction) {}
-      
+
   /**
    * @brief State update funciton for the extended Pose state.
    */
@@ -51,6 +52,7 @@ class PoseLocalParameterization : public ceres::LocalParameterization {
    */
   Eigen::Matrix<double, 12, 6> getEigenJacobian() const;
 
-  protected: 
-    LieDirection _direction;
+protected:
+  LieDirection _direction;
 };
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/local_parameterizations/SE23LocalParameterization.h b/include/local_parameterizations/SE23LocalParameterization.h
index d66046f..0e118ff 100644
--- a/include/local_parameterizations/SE23LocalParameterization.h
+++ b/include/local_parameterizations/SE23LocalParameterization.h
@@ -3,14 +3,16 @@
 #include "ExtendedPoseLocalParameterization.h"
 #include <ceres/ceres.h>
 
+namespace ceres_nav {
 class SE23LocalParameterization : public ExtendedPoseLocalParameterization {
 public:
-
   using ExtendedPoseLocalParameterization::ExtendedPoseLocalParameterization;
   ~SE23LocalParameterization() override = default;
-  
+
   /**
    * @brief State update funciton for the extended Pose state.
    */
   bool Plus(const double *x, const double *delta, double *x_plus_delta) const;
 };
+
+} // namespace ceres_nav
diff --git a/include/local_parameterizations/SO3LocalParameterization.h b/include/local_parameterizations/SO3LocalParameterization.h
index d4b8cbc..2863bb4 100644
--- a/include/local_parameterizations/SO3LocalParameterization.h
+++ b/include/local_parameterizations/SO3LocalParameterization.h
@@ -4,6 +4,8 @@
 #include <Eigen/Dense>
 #include <ceres/ceres.h>
 
+namespace ceres_nav {
+
 class SO3LocalParameterization : public ceres::LocalParameterization {
 public:
   SO3LocalParameterization(LieDirection direction = LieDirection::left)
@@ -37,3 +39,4 @@ class SO3LocalParameterization : public ceres::LocalParameterization {
 protected:
   LieDirection _direction;
 };
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/utils/Timer.h b/include/utils/Timer.h
index 330fcf7..e932e3f 100644
--- a/include/utils/Timer.h
+++ b/include/utils/Timer.h
@@ -3,6 +3,7 @@
 #include <chrono>
 #include <memory>
 
+namespace ceres_nav {
 class Timer {
 public:
   using Clock = std::chrono::high_resolution_clock;
@@ -17,4 +18,5 @@ class Timer {
 
 private:
   TimePoint start_time_;
-};
\ No newline at end of file
+};
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/include/utils/VectorTypes.h b/include/utils/VectorTypes.h
index cd7093d..7ff9201 100644
--- a/include/utils/VectorTypes.h
+++ b/include/utils/VectorTypes.h
@@ -100,4 +100,4 @@ using MatrixVectorSTL =
     std::vector<MatrixT<double, Row, Col>, Eigen::aligned_allocator<MatrixT<double, Row, Col>>>;
 
 template <int Row> using VectorVectorSTL = MatrixVectorSTL<Row, 1>;
-} // namespace libRSF
\ No newline at end of file
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/factors/AbsolutePositionFactor.cpp b/src/factors/AbsolutePositionFactor.cpp
index dce3d8c..6af92b1 100644
--- a/src/factors/AbsolutePositionFactor.cpp
+++ b/src/factors/AbsolutePositionFactor.cpp
@@ -3,6 +3,8 @@
 #include "lie/SE3.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
+
 bool AbsolutePositionFactor::Evaluate(double const *const *parameters,
                                       double *residuals,
                                       double **jacobians) const {
@@ -62,4 +64,6 @@ bool AbsolutePositionFactor::Evaluate(double const *const *parameters,
   }
 
   return true;
-}
\ No newline at end of file
+}
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/factors/IMUPreintegrationFactor.cpp b/src/factors/IMUPreintegrationFactor.cpp
index 4534417..d1559d7 100644
--- a/src/factors/IMUPreintegrationFactor.cpp
+++ b/src/factors/IMUPreintegrationFactor.cpp
@@ -7,10 +7,11 @@
 
 #include <glog/logging.h>
 
+namespace ceres_nav {
+
 IMUPreintegrationFactor::IMUPreintegrationFactor(
-    IMUIncrement imu_increment_, bool use_group_jacobians_,
-    const LieDirection &direction_, ExtendedPoseRepresentation pose_rep_)
-    : helper{imu_increment_, use_group_jacobians_, direction_, pose_rep_} {}
+    const IMUIncrement &imu_increment_, bool use_group_jacobians_)
+    : helper{imu_increment_, use_group_jacobians_} {}
 
 bool IMUPreintegrationFactor::Evaluate(double const *const *parameters,
                                        double *residuals,
@@ -105,3 +106,4 @@ bool IMUPreintegrationFactor::Evaluate(double const *const *parameters,
   }
   return true;
 }
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/factors/IMUPriorFactor.cpp b/src/factors/IMUPriorFactor.cpp
index 46e1b5c..570f640 100644
--- a/src/factors/IMUPriorFactor.cpp
+++ b/src/factors/IMUPriorFactor.cpp
@@ -5,6 +5,7 @@
 
 #include <string>
 
+namespace ceres_nav {
 IMUPriorFactor::IMUPriorFactor(
     const Eigen::Matrix<double, 5, 5> &prior_nav_state,
     const Eigen::Matrix<double, 6, 1> &prior_imu_bias,
@@ -76,3 +77,4 @@ bool IMUPriorFactor::Evaluate(double const *const *parameters,
 
   return true;
 }
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/factors/RelativeLandmarkFactor.cpp b/src/factors/RelativeLandmarkFactor.cpp
index 285490d..8439d62 100644
--- a/src/factors/RelativeLandmarkFactor.cpp
+++ b/src/factors/RelativeLandmarkFactor.cpp
@@ -5,6 +5,8 @@
 #include "lie/SE3.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
+
 bool RelativeLandmarkFactor::Evaluate(double const *const *parameters,
                                       double *residuals,
                                       double **jacobians) const {
@@ -79,4 +81,5 @@ bool RelativeLandmarkFactor::Evaluate(double const *const *parameters,
     }
   }
   return true;
-}
\ No newline at end of file
+}
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/factors/RelativePoseFactor.cpp b/src/factors/RelativePoseFactor.cpp
index 81fa6b1..7b4e440 100644
--- a/src/factors/RelativePoseFactor.cpp
+++ b/src/factors/RelativePoseFactor.cpp
@@ -1,6 +1,8 @@
 #include "factors/RelativePoseFactor.h"
 #include "lie/SE3.h"
 
+namespace ceres_nav {
+
 RelativePoseFactor::RelativePoseFactor(
     const Eigen::Matrix4d &meas_,
     const Eigen::Matrix<double, 6, 6> &sqrt_info_,
@@ -85,4 +87,5 @@ bool RelativePoseFactor::Evaluate(double const *const *parameters,
   }
 
   return true;
-}
\ No newline at end of file
+}
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/imu/IMUHelper.cpp b/src/imu/IMUHelper.cpp
index 611ca19..8dd24ef 100644
--- a/src/imu/IMUHelper.cpp
+++ b/src/imu/IMUHelper.cpp
@@ -4,7 +4,8 @@
 #include "imu/IMUHelper.h"
 #include "imu/IMUIncrement.h"
 
-// #include <iostream>
+namespace ceres_nav {
+
 Eigen::Matrix<double, 5, 5> createGMatrix(const Eigen::Vector3d &gravity,
                                           double dt) {
   Eigen::Matrix<double, 5, 5> G = Eigen::Matrix<double, 5, 5>::Identity();
@@ -145,4 +146,6 @@ Eigen::Matrix<double, 9, 9> adjointIE3(const Eigen::Matrix<double, 5, 5> &X) {
 //   preintegrateIMUMeasurements(rmi, imu_to_preintegrate);
 
 //   return true;
-// }
\ No newline at end of file
+// }
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/imu/IMUIncrement.cpp b/src/imu/IMUIncrement.cpp
index dba4ed8..57be287 100644
--- a/src/imu/IMUIncrement.cpp
+++ b/src/imu/IMUIncrement.cpp
@@ -10,6 +10,8 @@
 
 #include <glog/logging.h>
 
+namespace ceres_nav {
+
 IMUIncrement::IMUIncrement(Eigen::Matrix<double, 12, 12> Q_ct_,
                            Eigen::Vector3d init_gyro_bias,
                            Eigen::Vector3d init_accel_bias, double init_stamp,
@@ -86,6 +88,7 @@ void IMUIncrement::propagateCovarianceAndBiasJacobian(
   if (pose_rep == ExtendedPoseRepresentation::SE23) {
     computeContinuousTimeJacobiansSE23(C, v, r, omega, accel, A_ct, L_ct);
   } else if (pose_rep == ExtendedPoseRepresentation::Decoupled) {
+    // LOG(INFO) << "Decoupled Jacobians...";
     computeContinuousTimeJacobiansDecoupled(C, v, r, omega, accel, A_ct, L_ct);
   } else {
     LOG(FATAL) << "Unknown pose representation: " << static_cast<int>(pose_rep);
@@ -117,8 +120,9 @@ void IMUIncrement::computeContinuousTimeJacobiansDecoupled(
   L_ct.setZero();
 
   if (direction == LieDirection::left) {
-    LOG(INFO) << "Left lie direction for decoupled navigation state "
+    LOG(ERROR) << "Left lie direction for decoupled navigation state "
                  "representation not yet supported with IMU increment!"; 
+    std::exit(EXIT_FAILURE);
   } else if (direction == LieDirection::right) {
     Eigen::Vector3d unbiased_gyro = omega - gyro_bias;
     Eigen::Vector3d unbiased_accel = accel - accel_bias;
@@ -194,4 +198,5 @@ void IMUIncrement::repropagate(const Eigen::Vector3d &init_gyro_bias,
   for (int i = 0; i < static_cast<int>(dt_buf.size()); i++) {
     propagate(dt_buf[i], gyr_buf[i], acc_buf[i]);
   }
-}
\ No newline at end of file
+}
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/imu/IMUPreintegrationHelper.cpp b/src/imu/IMUPreintegrationHelper.cpp
index 4b6e1aa..3a28fa9 100644
--- a/src/imu/IMUPreintegrationHelper.cpp
+++ b/src/imu/IMUPreintegrationHelper.cpp
@@ -1,10 +1,11 @@
 #include "imu/IMUPreintegrationHelper.h"
 
+namespace ceres_nav {
+
 IMUPreintegrationHelper::IMUPreintegrationHelper(
-    const IMUIncrement &imu_increment, bool use_group_jacobians_,
-    const LieDirection &direction_, ExtendedPoseRepresentation pose_rep_)
+    const IMUIncrement &imu_increment, bool use_group_jacobians_)
     : rmi{imu_increment}, use_group_jacobians{use_group_jacobians_},
-      direction{direction_}, pose_rep{pose_rep_} {}
+      direction{imu_increment.direction}, pose_rep{imu_increment.pose_rep} {}
 
 Eigen::Matrix<double, 15, 1>
 IMUPreintegrationHelper::computePreintegrationError(
@@ -21,8 +22,8 @@ IMUPreintegrationHelper::computePreintegrationError(
     // predicted and measured RMI on SE_2(3)
     e_nav = SE23::minus(Y_pred, Y_meas, direction);
   } else if (pose_rep == ExtendedPoseRepresentation::Decoupled) {
-    Eigen::Vector3d delta_phi = SO3::minus(
-        Y_pred.block<3, 3>(0, 0), Y_meas.block<3, 3>(0, 0), direction);
+    Eigen::Vector3d delta_phi = SO3::minus(Y_pred.block<3, 3>(0, 0),
+                                           Y_meas.block<3, 3>(0, 0), direction);
     Eigen::Vector3d delta_v =
         Y_pred.block<3, 1>(0, 3) - Y_meas.block<3, 1>(0, 3);
     Eigen::Vector3d delta_r =
@@ -92,7 +93,8 @@ IMUPreintegrationHelper::getUpdatedRMI(const IMUStateHolder &X_i) const {
     Eigen::Matrix3d delta_C_updated;
     // Update delta_C with the correct perturbation
     if (direction == LieDirection::left) {
-      LOG(INFO) << "Using left jacobians for decoupled navigation state representation.";
+      LOG(INFO) << "Using left jacobians for decoupled navigation state "
+                   "representation.";
       delta_C_updated = SO3::expMap(dC_dbg * d_bg) * delta_C;
     } else if (direction == LieDirection::right) {
       // Perform first-order correction
@@ -367,4 +369,6 @@ IMUPreintegrationHelper::computeRawJacobiansRightDecoupled(
   raw_jacobians.push_back(jac_i);
   raw_jacobians.push_back(jac_j);
   return raw_jacobians;
-}
\ No newline at end of file
+}
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/lib/StateCollection.cpp b/src/lib/StateCollection.cpp
index 06971c4..99cdad9 100644
--- a/src/lib/StateCollection.cpp
+++ b/src/lib/StateCollection.cpp
@@ -2,6 +2,8 @@
 #include "lib/StateId.h"
 #include "utils/Utils.h"
 
+namespace ceres_nav {
+
 void StateCollection::addState(const std::string &name, double timestamp,
                                std::shared_ptr<ParameterBlockBase> state) {
   int64_t timestamp_key = timestampToKey(timestamp);
@@ -108,12 +110,12 @@ StateCollection::getStateByEstimatePointer(double *ptr) const {
 }
 
 bool StateCollection::getStateIDByEstimatePointer(
-    double *ptr, ceres_nav::StateID &state_id) const {
+    double *ptr, StateID &state_id) const {
   for (auto const &state_map_ : states_) {
     for (auto const &state : state_map_.second) {
       if (state.second->estimatePointer() == ptr) {
         state_id =
-            ceres_nav::StateID(state_map_.first, keyToTimestamp(state.first));
+            StateID(state_map_.first, keyToTimestamp(state.first));
         return true;
       }
     }
@@ -139,4 +141,6 @@ StateCollection::getLatestState(const std::string &key) const {
     return it->second.rbegin()->second;
   }
   return nullptr;
-}
\ No newline at end of file
+}
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/lie/SE23.cpp b/src/lie/SE23.cpp
index 1bf0cc5..e926746 100644
--- a/src/lie/SE23.cpp
+++ b/src/lie/SE23.cpp
@@ -3,6 +3,8 @@
 #include <Eigen/Dense>
 #include <iostream>
 
+namespace ceres_nav {
+
 Eigen::Matrix<double, 5, 5> SE23::expMap(const Eigen::Matrix<double, 9, 1> &x) {
   Eigen::Matrix<double, 5, 5> X = Eigen::Matrix<double, 5, 5>::Identity();
   Eigen::Matrix3d R{SO3::expMap(x.block<3, 1>(0, 0))};
@@ -200,4 +202,6 @@ Eigen::Matrix<double, 9, 1> SE23::minus(const Eigen::Matrix<double, 5, 5> &Y,
     std::cerr << "Invalid Lie direction" << std::endl;
     return Eigen::Matrix<double, 9, 1>::Zero();
   }
-}
\ No newline at end of file
+}
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/lie/SE3.cpp b/src/lie/SE3.cpp
index 7fd81e5..4a5ec90 100644
--- a/src/lie/SE3.cpp
+++ b/src/lie/SE3.cpp
@@ -4,6 +4,8 @@
 #include <Eigen/Dense>
 #include <iostream>
 
+namespace ceres_nav {
+
 Eigen::Matrix4d SE3::wedge(const Eigen::Matrix<double, 6, 1> &xi) {
   Eigen::Matrix4d X;
   // clang-format off
@@ -179,3 +181,5 @@ Eigen::Matrix<double, 6, 1> SE3::minus(const Eigen::Matrix<double, 4, 4> &Y,
     return Eigen::Matrix<double, 6, 1>::Zero();
   }
 }
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/lie/SO3.cpp b/src/lie/SO3.cpp
index ce89f83..f16991b 100644
--- a/src/lie/SO3.cpp
+++ b/src/lie/SO3.cpp
@@ -2,6 +2,8 @@
 // #include "utils/utility.h"
 #include <iostream>
 
+namespace ceres_nav {
+
 Eigen::Matrix3d SO3::cross(const Eigen::Vector3d &x) {
   Eigen::Matrix3d X;
   // clang-format off
@@ -215,3 +217,5 @@ Eigen::MatrixBase<Derived> &q)
     return ans;
 }
 */
+
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/local_parameterizations/DecoupledExtendedPoseLocalParameterization.cpp b/src/local_parameterizations/DecoupledExtendedPoseLocalParameterization.cpp
index a8802c8..178e717 100644
--- a/src/local_parameterizations/DecoupledExtendedPoseLocalParameterization.cpp
+++ b/src/local_parameterizations/DecoupledExtendedPoseLocalParameterization.cpp
@@ -2,6 +2,8 @@
 #include "lie/SE23.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
+
 /**
  * ExtendedPoseLocalParameterization::Plus defines the update rule for elements
  * of SE_2(3). This function defines how to increment parameters x, given a
@@ -42,4 +44,5 @@ bool DecoupledExtendedPoseLocalParameterization::Plus(
   x_plus_delta_raw.block<3, 1>(9, 0) = v_new;
   x_plus_delta_raw.block<3, 1>(12, 0) = r_new;
   return true;
-}
\ No newline at end of file
+}
+} // namespace ceres_nav
diff --git a/src/local_parameterizations/ExtendedPoseLocalParameterization.cpp b/src/local_parameterizations/ExtendedPoseLocalParameterization.cpp
index 357aa1e..ce5a022 100644
--- a/src/local_parameterizations/ExtendedPoseLocalParameterization.cpp
+++ b/src/local_parameterizations/ExtendedPoseLocalParameterization.cpp
@@ -1,5 +1,6 @@
 #include "local_parameterizations/ExtendedPoseLocalParameterization.h"
 
+namespace ceres_nav {
 /*
  * This function computes the Jacobian of the global parameterization w.r.t the
  * local parameterization. Within each cost function, the user is expected to
@@ -25,3 +26,5 @@ ExtendedPoseLocalParameterization::getEigenJacobian() const {
 
   return jac;
 }
+
+} // namespace ceres_nav
diff --git a/src/local_parameterizations/PoseLocalParameterization.cpp b/src/local_parameterizations/PoseLocalParameterization.cpp
index 0c07f64..43cf052 100644
--- a/src/local_parameterizations/PoseLocalParameterization.cpp
+++ b/src/local_parameterizations/PoseLocalParameterization.cpp
@@ -2,6 +2,7 @@
 #include "lie/SE3.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
 /**
  * ExtendedPoseLocalParameterization::Plus defines the update rule for elements
  * of SE_2(3). This function defines how to increment parameters x, given a
@@ -62,3 +63,4 @@ Eigen::Matrix<double, 12, 6> PoseLocalParameterization::getEigenJacobian() const
 
   return jac;
 }
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/local_parameterizations/SE23LocalParameterization.cpp b/src/local_parameterizations/SE23LocalParameterization.cpp
index 25c79e3..d039dd5 100644
--- a/src/local_parameterizations/SE23LocalParameterization.cpp
+++ b/src/local_parameterizations/SE23LocalParameterization.cpp
@@ -2,6 +2,8 @@
 #include "lie/SE23.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
+
 /**
  * ExtendedPoseLocalParameterization::Plus defines the update rule for elements
  * of SE_2(3). This function defines how to increment parameters x, given a
@@ -38,4 +40,5 @@ bool SE23LocalParameterization::Plus(const double *x, const double *delta,
   x_plus_delta_raw.block<3, 1>(12, 0) = r_new;
 
   return true;
-}
\ No newline at end of file
+}
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/src/local_parameterizations/SO3LocalParameterization.cpp b/src/local_parameterizations/SO3LocalParameterization.cpp
index c761c68..47cd95b 100644
--- a/src/local_parameterizations/SO3LocalParameterization.cpp
+++ b/src/local_parameterizations/SO3LocalParameterization.cpp
@@ -2,6 +2,8 @@
 #include "lie/SE3.h"
 #include "lie/SO3.h"
 
+namespace ceres_nav {
+
 /**
  * Defines the plus operator for elements of SO(3).
  * 
@@ -49,3 +51,4 @@ Eigen::Matrix<double, 9, 3> SO3LocalParameterization::getEigenJacobian() const {
   jac.block<3, 3>(0, 0) = Eigen::Matrix3d::Identity();
   return jac;
 }
+} // namespace ceres_nav
\ No newline at end of file
diff --git a/tests/test_factor_graph.cpp b/tests/test_factor_graph.cpp
index 06cb891..b3830a0 100644
--- a/tests/test_factor_graph.cpp
+++ b/tests/test_factor_graph.cpp
@@ -10,8 +10,10 @@
 
 #include <catch2/catch_test_macros.hpp>
 
+using namespace ceres_nav;
+
 TEST_CASE("Test Add/Remove states from FactorGraph") {
-  ceres_nav::FactorGraph factor_graph;
+  FactorGraph factor_graph;
   std::shared_ptr<ParameterBlock<3>> state =
       std::make_shared<ParameterBlock<3>>(Eigen::Vector3d(1.0, 2.0, 3.0));
   
@@ -21,7 +23,7 @@ TEST_CASE("Test Add/Remove states from FactorGraph") {
   REQUIRE(factor_graph.numParameterBlocks() == 1);
 
   // Get the state pointer for this state
-  std::vector<ceres_nav::StateID> state_ids = {ceres_nav::StateID("x", 0.0)};
+  std::vector<StateID> state_ids = {StateID("x", 0.0)};
   std::vector<double *> estimate_ptrs;
   factor_graph.getStatePointers(state_ids, estimate_ptrs);
   REQUIRE(estimate_ptrs.size() == 1);
@@ -33,7 +35,7 @@ TEST_CASE("Test Add/Remove states from FactorGraph") {
 }
 
 TEST_CASE("Test setting states constant") {
-  ceres_nav::FactorGraph factor_graph;
+  FactorGraph factor_graph;
   std::shared_ptr<ParameterBlock<3>> state =
       std::make_shared<ParameterBlock<3>>(Eigen::Vector3d(1.0, 2.0, 3.0));
   factor_graph.addState("x", 0.0, state);
diff --git a/tests/test_jacobians.cpp b/tests/test_jacobians.cpp
index 0f3a3c1..db6f3e5 100644
--- a/tests/test_jacobians.cpp
+++ b/tests/test_jacobians.cpp
@@ -25,6 +25,8 @@
 #include "lib/ExtendedPoseParameterBlock.h"
 #include "utils/CostFunctionUtils.h"
 
+using namespace ceres_nav;
+
 TEST_CASE("Test AbsolutePositionFactor Jacobians") {
   // Create an absolute position factor
   Eigen::Matrix3d attitude = SO3::expMap(Eigen::Vector3d(0.5, -0.2, 0.3));
@@ -250,7 +252,7 @@ TEST_CASE("IMUPreintegrationFactor") {
       // Create the factor
       std::shared_ptr<IMUPreintegrationFactor> factor =
           std::make_shared<IMUPreintegrationFactor>(
-              imu_increment, use_group_jacobians, direction, rep_type);
+              imu_increment, use_group_jacobians);
 
       // Evaluate the factor with the parameter blocks
       std::vector<Eigen::MatrixXd> analytical_jacobians;
diff --git a/tests/test_parameter_blocks.cpp b/tests/test_parameter_blocks.cpp
index 23bf0d5..2911ef3 100644
--- a/tests/test_parameter_blocks.cpp
+++ b/tests/test_parameter_blocks.cpp
@@ -7,6 +7,8 @@
 
 #include "lie/SO3.h"
 
+using namespace ceres_nav;
+
 TEST_CASE("Test Parameter Blocks") {
   ParameterBlock<3> block("3d_point");
   REQUIRE(block.dimension() == 3);
diff --git a/tests/test_state_collection.cpp b/tests/test_state_collection.cpp
index 010ee05..35d4d97 100644
--- a/tests/test_state_collection.cpp
+++ b/tests/test_state_collection.cpp
@@ -14,6 +14,8 @@
 
 #include <catch2/matchers/catch_matchers_floating_point.hpp>
 
+using namespace ceres_nav;
+
 TEST_CASE("Test Add/Remove Operations") {
   StateCollection state_collection;