diff --git a/media/libheadtracking/HeadTrackingProcessor-test.cpp b/media/libheadtracking/HeadTrackingProcessor-test.cpp
index 299192f..b9dd0b8 100644
--- a/media/libheadtracking/HeadTrackingProcessor-test.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor-test.cpp
@@ -15,10 +15,10 @@
  */
 
 #include "media/HeadTrackingProcessor.h"
+#include "media/QuaternionUtil.h"
 
 #include <gtest/gtest.h>
 
-#include "QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/HeadTrackingProcessor.cpp b/media/libheadtracking/HeadTrackingProcessor.cpp
index 101b825..b70b6dc 100644
--- a/media/libheadtracking/HeadTrackingProcessor.cpp
+++ b/media/libheadtracking/HeadTrackingProcessor.cpp
@@ -18,10 +18,10 @@
 #include <android-base/stringprintf.h>
 #include <audio_utils/SimpleLog.h>
 #include "media/HeadTrackingProcessor.h"
+#include "media/QuaternionUtil.h"
 
 #include "ModeSelector.h"
 #include "PoseBias.h"
-#include "QuaternionUtil.h"
 #include "ScreenHeadFusion.h"
 #include "StillnessDetector.h"
 
diff --git a/media/libheadtracking/ModeSelector-test.cpp b/media/libheadtracking/ModeSelector-test.cpp
index a136e6b..6925908 100644
--- a/media/libheadtracking/ModeSelector-test.cpp
+++ b/media/libheadtracking/ModeSelector-test.cpp
@@ -18,7 +18,7 @@
 
 #include <gtest/gtest.h>
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/Pose-test.cpp b/media/libheadtracking/Pose-test.cpp
index a9e18ce..29dba29 100644
--- a/media/libheadtracking/Pose-test.cpp
+++ b/media/libheadtracking/Pose-test.cpp
@@ -18,7 +18,7 @@
 
 #include <gtest/gtest.h>
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 using android::media::Pose3f;
diff --git a/media/libheadtracking/Pose.cpp b/media/libheadtracking/Pose.cpp
index 4a4b56a..e03725b 100644
--- a/media/libheadtracking/Pose.cpp
+++ b/media/libheadtracking/Pose.cpp
@@ -16,8 +16,8 @@
 #include <android-base/stringprintf.h>
 
 #include "media/Pose.h"
+#include "media/QuaternionUtil.h"
 #include "media/Twist.h"
-#include "QuaternionUtil.h"
 
 namespace android {
 namespace media {
diff --git a/media/libheadtracking/PoseBias-test.cpp b/media/libheadtracking/PoseBias-test.cpp
index 9f42a2c..659dda0 100644
--- a/media/libheadtracking/PoseBias-test.cpp
+++ b/media/libheadtracking/PoseBias-test.cpp
@@ -17,7 +17,8 @@
 #include <gtest/gtest.h>
 
 #include "PoseBias.h"
-#include "QuaternionUtil.h"
+
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/PoseDriftCompensator-test.cpp b/media/libheadtracking/PoseDriftCompensator-test.cpp
index df0a05f..521e3eb 100644
--- a/media/libheadtracking/PoseDriftCompensator-test.cpp
+++ b/media/libheadtracking/PoseDriftCompensator-test.cpp
@@ -18,7 +18,8 @@
 #include <cmath>
 
 #include "PoseDriftCompensator.h"
-#include "QuaternionUtil.h"
+
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/PoseDriftCompensator.cpp b/media/libheadtracking/PoseDriftCompensator.cpp
index 0e90cad..2775790 100644
--- a/media/libheadtracking/PoseDriftCompensator.cpp
+++ b/media/libheadtracking/PoseDriftCompensator.cpp
@@ -18,7 +18,7 @@
 
 #include <cmath>
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 
 namespace android {
 namespace media {
diff --git a/media/libheadtracking/PoseRateLimiter-test.cpp b/media/libheadtracking/PoseRateLimiter-test.cpp
index f306183..ded874a 100644
--- a/media/libheadtracking/PoseRateLimiter-test.cpp
+++ b/media/libheadtracking/PoseRateLimiter-test.cpp
@@ -17,7 +17,8 @@
 #include <gtest/gtest.h>
 
 #include "PoseRateLimiter.h"
-#include "QuaternionUtil.h"
+
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/QuaternionUtil-test.cpp b/media/libheadtracking/QuaternionUtil-test.cpp
index e79e54a..ebb4223 100644
--- a/media/libheadtracking/QuaternionUtil-test.cpp
+++ b/media/libheadtracking/QuaternionUtil-test.cpp
@@ -16,7 +16,7 @@
 
 #include <gtest/gtest.h>
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 using Eigen::Quaternionf;
diff --git a/media/libheadtracking/QuaternionUtil.cpp b/media/libheadtracking/QuaternionUtil.cpp
index 5d090de..e245c80 100644
--- a/media/libheadtracking/QuaternionUtil.cpp
+++ b/media/libheadtracking/QuaternionUtil.cpp
@@ -14,7 +14,7 @@
  * limitations under the License.
  */
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 
 #include <cassert>
 
diff --git a/media/libheadtracking/SensorPoseProvider.cpp b/media/libheadtracking/SensorPoseProvider.cpp
index 31d469c..8a29027 100644
--- a/media/libheadtracking/SensorPoseProvider.cpp
+++ b/media/libheadtracking/SensorPoseProvider.cpp
@@ -32,7 +32,7 @@
 #include <sensor/SensorManager.h>
 #include <utils/Looper.h>
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 
 namespace android {
 namespace media {
diff --git a/media/libheadtracking/StillnessDetector-test.cpp b/media/libheadtracking/StillnessDetector-test.cpp
index b6cd479..56e7b4e 100644
--- a/media/libheadtracking/StillnessDetector-test.cpp
+++ b/media/libheadtracking/StillnessDetector-test.cpp
@@ -16,8 +16,9 @@
 
 #include <gtest/gtest.h>
 
-#include "QuaternionUtil.h"
 #include "StillnessDetector.h"
+
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 namespace android {
diff --git a/media/libheadtracking/Twist-test.cpp b/media/libheadtracking/Twist-test.cpp
index 7984e1e..9fbf81f 100644
--- a/media/libheadtracking/Twist-test.cpp
+++ b/media/libheadtracking/Twist-test.cpp
@@ -16,9 +16,7 @@
 
 #include "media/Twist.h"
 
-#include <gtest/gtest.h>
-
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 #include "TestUtil.h"
 
 using Eigen::Quaternionf;
diff --git a/media/libheadtracking/Twist.cpp b/media/libheadtracking/Twist.cpp
index 664c4d5..63b9e69 100644
--- a/media/libheadtracking/Twist.cpp
+++ b/media/libheadtracking/Twist.cpp
@@ -16,7 +16,7 @@
 
 #include "media/Twist.h"
 
-#include "QuaternionUtil.h"
+#include "media/QuaternionUtil.h"
 
 namespace android {
 namespace media {
diff --git a/media/libheadtracking/QuaternionUtil.h b/media/libheadtracking/include/media/QuaternionUtil.h
similarity index 100%
rename from media/libheadtracking/QuaternionUtil.h
rename to media/libheadtracking/include/media/QuaternionUtil.h