diff --git a/LibCarla/cmake/client/CMakeLists.txt b/LibCarla/cmake/client/CMakeLists.txt
index 7aae3ea30..9ccfdfffb 100644
--- a/LibCarla/cmake/client/CMakeLists.txt
+++ b/LibCarla/cmake/client/CMakeLists.txt
@@ -6,21 +6,104 @@ install(DIRECTORY "${RPCLIB_INCLUDE_PATH}/rpc" DESTINATION include)
 file(GLOB libcarla_carla_rpclib "${RPCLIB_LIB_PATH}/*.*")
 install(FILES ${libcarla_carla_rpclib} DESTINATION lib)
 
-file(GLOB libcarla_sources
-    "${libcarla_source_path}/carla/*.h"
-    "${libcarla_source_path}/carla/*.cpp")
+# Install boost headers.
 
-file(GLOB_RECURSE libcarla_client_sources
-    "${libcarla_source_path}/carla/client/*.h"
+install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
+
+file(GLOB boost_libraries "${BOOST_LIB_PATH}/*")
+install(FILES ${boost_libraries} DESTINATION lib)
+
+# Add sources.
+
+file(GLOB libcarla_carla_sources
+    "${libcarla_source_path}/carla/*.cpp"
+    "${libcarla_source_path}/carla/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_sources}")
+install(FILES ${libcarla_carla_sources} DESTINATION include/carla)
+
+file(GLOB libcarla_carla_client_sources
     "${libcarla_source_path}/carla/client/*.cpp"
-    "${libcarla_source_path}/carla/rpc/*.h"
-    "${libcarla_source_path}/carla/rpc/*.cpp"
-    "${libcarla_source_path}/carla/streaming/*.h"
-    "${libcarla_source_path}/carla/streaming/*.cpp")
+    "${libcarla_source_path}/carla/client/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_client_sources}")
+install(FILES ${libcarla_carla_client_sources} DESTINATION include/carla/client)
 
+file(GLOB libcarla_carla_geom_sources
+    "${libcarla_source_path}/carla/geom/*.cpp"
+    "${libcarla_source_path}/carla/geom/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_geom_sources}")
+install(FILES ${libcarla_carla_geom_sources} DESTINATION include/carla/geom)
+
+file(GLOB libcarla_carla_opendrive_sources
+    "${libcarla_source_path}/carla/opendrive/*.cpp"
+    "${libcarla_source_path}/carla/opendrive/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_opendrive_sources}")
+install(FILES ${libcarla_carla_opendrive_sources} DESTINATION include/carla/opendrive)
+
+file(GLOB libcarla_carla_road_sources
+    "${libcarla_source_path}/carla/road/*.cpp"
+    "${libcarla_source_path}/carla/road/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_road_sources}")
+install(FILES ${libcarla_carla_road_sources} DESTINATION include/carla/road)
+
+file(GLOB libcarla_carla_rpc_sources
+    "${libcarla_source_path}/carla/rpc/*.cpp"
+    "${libcarla_source_path}/carla/rpc/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_rpc_sources}")
+install(FILES ${libcarla_carla_rpc_sources} DESTINATION include/carla/rpc)
+
+file(GLOB libcarla_carla_sensor_sources
+    "${libcarla_source_path}/carla/sensor/*.cpp"
+    "${libcarla_source_path}/carla/sensor/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_sensor_sources}")
+install(FILES ${libcarla_carla_sensor_sources} DESTINATION include/carla/sensor)
+
+file(GLOB libcarla_carla_sensor_data_sources
+    "${libcarla_source_path}/carla/sensor/data/*.cpp"
+    "${libcarla_source_path}/carla/sensor/data/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_sensor_data_sources}")
+install(FILES ${libcarla_carla_sensor_data_sources} DESTINATION include/carla/sensor/data)
+
+file(GLOB libcarla_carla_sensor_s11n_sources
+    "${libcarla_source_path}/carla/sensor/s11n/*.cpp"
+    "${libcarla_source_path}/carla/sensor/s11n/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_sensor_s11n_sources}")
+install(FILES ${libcarla_carla_sensor_s11n_sources} DESTINATION include/carla/sensor/s11n)
+
+file(GLOB libcarla_carla_streaming_sources
+    "${libcarla_source_path}/carla/streaming/*.cpp"
+    "${libcarla_source_path}/carla/streaming/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_streaming_sources}")
+install(FILES ${libcarla_carla_streaming_sources} DESTINATION include/carla/streaming)
+
+file(GLOB libcarla_carla_streaming_detail_sources
+    "${libcarla_source_path}/carla/streaming/detail/*.cpp"
+    "${libcarla_source_path}/carla/streaming/detail/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_streaming_detail_sources}")
+install(FILES ${libcarla_carla_streaming_detail_sources} DESTINATION include/carla/streaming/detail)
+
+file(GLOB libcarla_carla_streaming_detail_tcp_sources
+    "${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
+    "${libcarla_source_path}/carla/streaming/detail/tcp/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_streaming_detail_tcp_sources}")
+install(FILES ${libcarla_carla_streaming_detail_tcp_sources} DESTINATION include/carla/streaming/detail/tcp)
+
+file(GLOB libcarla_carla_streaming_low_level_sources
+    "${libcarla_source_path}/carla/streaming/low_level/*.cpp"
+    "${libcarla_source_path}/carla/streaming/low_level/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_carla_streaming_low_level_sources}")
+install(FILES ${libcarla_carla_streaming_low_level_sources} DESTINATION include/carla/streaming/low_level)
+
+file(GLOB libcarla_moodycamel_sources
+    "${libcarla_source_path}/moodycamel/*.h")
+set(libcarla_sources "${libcarla_sources};${libcarla_moodycamel_sources}")
+install(FILES ${libcarla_moodycamel_sources} DESTINATION include/moodycamel)
+
+# ==============================================================================
 # Create targets for debug and release in the same build type.
+# ==============================================================================
+
 foreach(target carla_client_debug carla_client)
-  add_library(${target} STATIC ${libcarla_client_sources} ${libcarla_sources})
+  add_library(${target} STATIC ${libcarla_sources})
 
   target_include_directories(${target} PRIVATE
       "${BOOST_INCLUDE_PATH}"
@@ -36,64 +119,3 @@ target_compile_definitions(carla_client_debug PUBLIC -DBOOST_ASIO_ENABLE_BUFFER_
 
 # Specific options for release.
 set_target_properties(carla_client PROPERTIES COMPILE_FLAGS ${CMAKE_CXX_FLAGS_RELEASE})
-
-# Install headers.
-
-install(DIRECTORY "${BOOST_INCLUDE_PATH}/boost" DESTINATION include)
-
-file(GLOB boost_libraries "${BOOST_LIB_PATH}/*")
-install(FILES ${boost_libraries} DESTINATION lib)
-
-file(GLOB libcarla_carla_headers
-    "${libcarla_source_path}/carla/*.cpp"
-    "${libcarla_source_path}/carla/*.h")
-install(FILES ${libcarla_carla_headers} DESTINATION include/carla)
-
-file(GLOB libcarla_moodycamel_headers
-    "${libcarla_source_path}/moodycamel/*.h")
-install(FILES ${libcarla_moodycamel_headers} DESTINATION include/moodycamel)
-
-file(GLOB libcarla_carla_client_headers
-    "${libcarla_source_path}/carla/client/*.cpp"
-    "${libcarla_source_path}/carla/client/*.h")
-install(FILES ${libcarla_carla_client_headers} DESTINATION include/carla/client)
-
-file(GLOB libcarla_carla_rpc_headers
-    "${libcarla_source_path}/carla/rpc/*.cpp"
-    "${libcarla_source_path}/carla/rpc/*.h")
-install(FILES ${libcarla_carla_rpc_headers} DESTINATION include/carla/rpc)
-
-file(GLOB libcarla_carla_sensor_headers
-    "${libcarla_source_path}/carla/sensor/*.cpp"
-    "${libcarla_source_path}/carla/sensor/*.h")
-install(FILES ${libcarla_carla_sensor_headers} DESTINATION include/carla/sensor)
-
-file(GLOB libcarla_carla_sensor_data_headers
-    "${libcarla_source_path}/carla/sensor/data/*.cpp"
-    "${libcarla_source_path}/carla/sensor/data/*.h")
-install(FILES ${libcarla_carla_sensor_data_headers} DESTINATION include/carla/sensor/data)
-
-file(GLOB libcarla_carla_sensor_s11n_headers
-    "${libcarla_source_path}/carla/sensor/s11n/*.cpp"
-    "${libcarla_source_path}/carla/sensor/s11n/*.h")
-install(FILES ${libcarla_carla_sensor_s11n_headers} DESTINATION include/carla/sensor/s11n)
-
-file(GLOB libcarla_carla_streaming_headers
-    "${libcarla_source_path}/carla/streaming/*.cpp"
-    "${libcarla_source_path}/carla/streaming/*.h")
-install(FILES ${libcarla_carla_streaming_headers} DESTINATION include/carla/streaming)
-
-file(GLOB libcarla_carla_streaming_detail_headers
-    "${libcarla_source_path}/carla/streaming/detail/*.cpp"
-    "${libcarla_source_path}/carla/streaming/detail/*.h")
-install(FILES ${libcarla_carla_streaming_detail_headers} DESTINATION include/carla/streaming/detail)
-
-file(GLOB libcarla_carla_streaming_detail_tcp_headers
-    "${libcarla_source_path}/carla/streaming/detail/tcp/*.cpp"
-    "${libcarla_source_path}/carla/streaming/detail/tcp/*.h")
-install(FILES ${libcarla_carla_streaming_detail_tcp_headers} DESTINATION include/carla/streaming/detail/tcp)
-
-file(GLOB libcarla_carla_streaming_low_level_headers
-    "${libcarla_source_path}/carla/streaming/low_level/*.cpp"
-    "${libcarla_source_path}/carla/streaming/low_level/*.h")
-install(FILES ${libcarla_carla_streaming_low_level_headers} DESTINATION include/carla/streaming/low_level)
diff --git a/LibCarla/cmake/server/CMakeLists.txt b/LibCarla/cmake/server/CMakeLists.txt
index 4f2db7cd1..420952108 100644
--- a/LibCarla/cmake/server/CMakeLists.txt
+++ b/LibCarla/cmake/server/CMakeLists.txt
@@ -17,6 +17,9 @@ install(DIRECTORY "${libcarla_source_path}/compiler" DESTINATION include)
 file(GLOB libcarla_carla_headers "${libcarla_source_path}/carla/*.h")
 install(FILES ${libcarla_carla_headers} DESTINATION include/carla)
 
+file(GLOB libcarla_carla_geom_headers "${libcarla_source_path}/carla/geom/*.h")
+install(FILES ${libcarla_carla_geom_headers} DESTINATION include/carla/geom)
+
 file(GLOB libcarla_carla_rpc_headers "${libcarla_source_path}/carla/rpc/*.h")
 install(FILES ${libcarla_carla_rpc_headers} DESTINATION include/carla/rpc)
 
diff --git a/LibCarla/source/carla/rpc/MsgPack.h b/LibCarla/source/carla/MsgPack.h
similarity index 100%
rename from LibCarla/source/carla/rpc/MsgPack.h
rename to LibCarla/source/carla/MsgPack.h
diff --git a/LibCarla/source/carla/client/Transform.h b/LibCarla/source/carla/client/Transform.h
index a1259796d..a7dcd924e 100644
--- a/LibCarla/source/carla/client/Transform.h
+++ b/LibCarla/source/carla/client/Transform.h
@@ -6,14 +6,14 @@
 
 #pragma once
 
-#include "carla/rpc/Transform.h"
+#include "carla/geom/Transform.h"
 
 namespace carla {
 namespace client {
 
-  using Location = carla::rpc::Location;
-  using Rotation = carla::rpc::Rotation;
-  using Transform = carla::rpc::Transform;
+  using Location = carla::geom::Location;
+  using Rotation = carla::geom::Rotation;
+  using Transform = carla::geom::Transform;
 
 } // namespace client
 } // namespace carla
diff --git a/LibCarla/source/carla/geom/Location.h b/LibCarla/source/carla/geom/Location.h
new file mode 100644
index 000000000..0ab681256
--- /dev/null
+++ b/LibCarla/source/carla/geom/Location.h
@@ -0,0 +1,91 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Math/Vector.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace geom {
+
+  class Location {
+  public:
+
+    float x = 0.0f;
+    float y = 0.0f;
+    float z = 0.0f;
+
+    Location() = default;
+
+    Location(float ix, float iy, float iz)
+      : x(ix),
+        y(iy),
+        z(iz) {}
+
+    Location &operator+=(const Location &rhs) {
+      x += rhs.x;
+      y += rhs.y;
+      z += rhs.z;
+      return *this;
+    }
+
+    friend Location operator+(Location lhs, const Location &rhs) {
+      lhs += rhs;
+      return lhs;
+    }
+
+    Location &operator-=(const Location &rhs) {
+      x -= rhs.x;
+      y -= rhs.y;
+      z -= rhs.z;
+      return *this;
+    }
+
+    friend Location operator-(Location lhs, const Location &rhs) {
+      lhs -= rhs;
+      return lhs;
+    }
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Location(const FVector &vector) // from centimeters to meters.
+      : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
+
+    operator FVector() const {
+      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    // =========================================================================
+    /// @todo The following is copy-pasted from MSGPACK_DEFINE_ARRAY.
+    /// This is a workaround for an issue in msgpack library. The
+    /// MSGPACK_DEFINE_ARRAY macro is shadowing our `z` variable.
+    /// https://github.com/msgpack/msgpack-c/issues/709
+    // =========================================================================
+    template <typename Packer>
+    void msgpack_pack(Packer& pk) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_pack(pk);
+    }
+    void msgpack_unpack(clmdep_msgpack::object const& o)
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_unpack(o);
+    }
+    template <typename MSGPACK_OBJECT>
+    void msgpack_object(MSGPACK_OBJECT* o, clmdep_msgpack::zone& sneaky_variable_that_shadows_z) const
+    {
+        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_object(o, sneaky_variable_that_shadows_z);
+    }
+    // =========================================================================
+  };
+
+} // namespace geom
+} // namespace carla
diff --git a/LibCarla/source/carla/geom/Transform.h b/LibCarla/source/carla/geom/Transform.h
new file mode 100644
index 000000000..af57cd58f
--- /dev/null
+++ b/LibCarla/source/carla/geom/Transform.h
@@ -0,0 +1,75 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/MsgPack.h"
+#include "carla/geom/Location.h"
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+#  include "Transform.h"
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+namespace carla {
+namespace geom {
+
+  class Rotation {
+  public:
+
+    Rotation() = default;
+
+    Rotation(float p, float y, float r)
+      : pitch(p),
+        yaw(y),
+        roll(r) {}
+
+    float pitch = 0.0f;
+    float yaw = 0.0f;
+    float roll = 0.0f;
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Rotation(const FRotator &rotator)
+      : Rotation(rotator.Pitch, rotator.Yaw, rotator.Roll) {}
+
+    operator FRotator() const {
+      return FRotator{pitch, yaw, roll};
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(pitch, yaw, roll);
+  };
+
+  class Transform {
+  public:
+
+    Transform() = default;
+
+    Transform(const Location &in_location, const Rotation &in_rotation)
+      : location(in_location),
+        rotation(in_rotation) {}
+
+    Location location;
+    Rotation rotation;
+
+#ifdef LIBCARLA_INCLUDED_FROM_UE4
+
+    Transform(const FTransform &transform)
+      : Transform(Location(transform.GetLocation()), Rotation(transform.Rotator())) {}
+
+    operator FTransform() const {
+      const FVector scale{1.0f, 1.0f, 1.0f};
+      return FTransform{FRotator(rotation), FVector(location), scale};
+    }
+
+#endif // LIBCARLA_INCLUDED_FROM_UE4
+
+    MSGPACK_DEFINE_ARRAY(location, rotation);
+  };
+
+} // namespace geom
+} // namespace carla
diff --git a/LibCarla/source/carla/opendrive/OpenDrive.h b/LibCarla/source/carla/opendrive/OpenDrive.h
new file mode 100644
index 000000000..ec803318d
--- /dev/null
+++ b/LibCarla/source/carla/opendrive/OpenDrive.h
@@ -0,0 +1,26 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+#include "carla/road/Map.h"
+
+#include <istream>
+#include <ostream>
+
+namespace carla {
+namespace opendrive {
+
+    class OpenDrive {
+    public:
+
+      static road::Map Load(std::istream &input);
+
+      static void Dump(const road::Map &map, std::ostream &output);
+    };
+
+} // namespace opendrive
+} // namespace carla
diff --git a/LibCarla/source/carla/road/Map.h b/LibCarla/source/carla/road/Map.h
new file mode 100644
index 000000000..401d842e5
--- /dev/null
+++ b/LibCarla/source/carla/road/Map.h
@@ -0,0 +1,19 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace road {
+
+    class Map {
+    public:
+
+
+    };
+
+} // namespace road
+} // namespace carla
diff --git a/LibCarla/source/carla/road/MapBuilder.h b/LibCarla/source/carla/road/MapBuilder.h
new file mode 100644
index 000000000..fa55cff24
--- /dev/null
+++ b/LibCarla/source/carla/road/MapBuilder.h
@@ -0,0 +1,21 @@
+// Copyright (c) 2017 Computer Vision Center (CVC) at the Universitat Autonoma
+// de Barcelona (UAB).
+//
+// This work is licensed under the terms of the MIT license.
+// For a copy, see <https://opensource.org/licenses/MIT>.
+
+#pragma once
+
+namespace carla {
+namespace road {
+
+    class MapBuilder {
+    public:
+
+
+
+
+    };
+
+} // namespace road
+} // namespace carla
diff --git a/LibCarla/source/carla/rpc/ActorAttribute.h b/LibCarla/source/carla/rpc/ActorAttribute.h
index f20515658..2bf9f9f05 100644
--- a/LibCarla/source/carla/rpc/ActorAttribute.h
+++ b/LibCarla/source/carla/rpc/ActorAttribute.h
@@ -6,8 +6,8 @@
 
 #pragma once
 
+#include "carla/MsgPack.h"
 #include "carla/rpc/ActorAttributeType.h"
-#include "carla/rpc/MsgPack.h"
 #include "carla/rpc/String.h"
 
 #include <vector>
diff --git a/LibCarla/source/carla/rpc/ActorDefinition.h b/LibCarla/source/carla/rpc/ActorDefinition.h
index 9dd86c365..cac5036cf 100644
--- a/LibCarla/source/carla/rpc/ActorDefinition.h
+++ b/LibCarla/source/carla/rpc/ActorDefinition.h
@@ -6,8 +6,8 @@
 
 #pragma once
 
+#include "carla/MsgPack.h"
 #include "carla/rpc/ActorAttribute.h"
-#include "carla/rpc/MsgPack.h"
 #include "carla/rpc/String.h"
 
 #include <vector>
diff --git a/LibCarla/source/carla/rpc/ActorDescription.h b/LibCarla/source/carla/rpc/ActorDescription.h
index 21dff5008..84173040d 100644
--- a/LibCarla/source/carla/rpc/ActorDescription.h
+++ b/LibCarla/source/carla/rpc/ActorDescription.h
@@ -6,8 +6,8 @@
 
 #pragma once
 
+#include "carla/MsgPack.h"
 #include "carla/rpc/ActorAttribute.h"
-#include "carla/rpc/MsgPack.h"
 #include "carla/rpc/String.h"
 
 #include <vector>
diff --git a/LibCarla/source/carla/rpc/Location.h b/LibCarla/source/carla/rpc/Location.h
index 90e82a981..b6de3df51 100644
--- a/LibCarla/source/carla/rpc/Location.h
+++ b/LibCarla/source/carla/rpc/Location.h
@@ -6,86 +6,12 @@
 
 #pragma once
 
-#include "carla/rpc/MsgPack.h"
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-#  include "Math/Vector.h"
-#endif // LIBCARLA_INCLUDED_FROM_UE4
+#include "carla/geom/Location.h"
 
 namespace carla {
 namespace rpc {
 
-  class Location {
-  public:
-
-    float x = 0.0f;
-    float y = 0.0f;
-    float z = 0.0f;
-
-    Location() = default;
-
-    Location(float ix, float iy, float iz)
-      : x(ix),
-        y(iy),
-        z(iz) {}
-
-    Location &operator+=(const Location &rhs) {
-      x += rhs.x;
-      y += rhs.y;
-      z += rhs.z;
-      return *this;
-    }
-
-    friend Location operator+(Location lhs, const Location &rhs) {
-      lhs += rhs;
-      return lhs;
-    }
-
-    Location &operator-=(const Location &rhs) {
-      x -= rhs.x;
-      y -= rhs.y;
-      z -= rhs.z;
-      return *this;
-    }
-
-    friend Location operator-(Location lhs, const Location &rhs) {
-      lhs -= rhs;
-      return lhs;
-    }
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-
-    Location(const FVector &vector) // from centimeters to meters.
-      : Location(1e-2f * vector.X, 1e-2f * vector.Y, 1e-2f * vector.Z) {}
-
-    operator FVector() const {
-      return FVector{1e2f * x, 1e2f * y, 1e2f * z}; // from meters to centimeters.
-    }
-
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
-    // =========================================================================
-    /// @todo The following is copy-pasted from MSGPACK_DEFINE_ARRAY.
-    /// This is a workaround for an issue in msgpack library. The
-    /// MSGPACK_DEFINE_ARRAY macro is shadowing our `z` variable.
-    /// https://github.com/msgpack/msgpack-c/issues/709
-    // =========================================================================
-    template <typename Packer>
-    void msgpack_pack(Packer& pk) const
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_pack(pk);
-    }
-    void msgpack_unpack(clmdep_msgpack::object const& o)
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_unpack(o);
-    }
-    template <typename MSGPACK_OBJECT>
-    void msgpack_object(MSGPACK_OBJECT* o, clmdep_msgpack::zone& sneaky_variable_that_shadows_z) const
-    {
-        clmdep_msgpack::type::make_define_array(x, y, z).msgpack_object(o, sneaky_variable_that_shadows_z);
-    }
-    // =========================================================================
-  };
+  using Location = geom::Location;
 
 } // namespace rpc
 } // namespace carla
diff --git a/LibCarla/source/carla/rpc/Transform.h b/LibCarla/source/carla/rpc/Transform.h
index 8fe8b1cc7..01584ccb0 100644
--- a/LibCarla/source/carla/rpc/Transform.h
+++ b/LibCarla/source/carla/rpc/Transform.h
@@ -6,70 +6,14 @@
 
 #pragma once
 
-#include "carla/rpc/Location.h"
-#include "carla/rpc/MsgPack.h"
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-#  include "Transform.h"
-#endif // LIBCARLA_INCLUDED_FROM_UE4
+#include "carla/geom/Transform.h"
 
 namespace carla {
 namespace rpc {
 
-  class Rotation {
-  public:
+  using Rotation = geom::Rotation;
 
-    Rotation() = default;
-
-    Rotation(float p, float y, float r)
-      : pitch(p),
-        yaw(y),
-        roll(r) {}
-
-    float pitch = 0.0f;
-    float yaw = 0.0f;
-    float roll = 0.0f;
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-
-    Rotation(const FRotator &rotator)
-      : Rotation(rotator.Pitch, rotator.Yaw, rotator.Roll) {}
-
-    operator FRotator() const {
-      return FRotator{pitch, yaw, roll};
-    }
-
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
-    MSGPACK_DEFINE_ARRAY(pitch, yaw, roll);
-  };
-
-  class Transform {
-  public:
-
-    Transform() = default;
-
-    Transform(const Location &in_location, const Rotation &in_rotation)
-      : location(in_location),
-        rotation(in_rotation) {}
-
-    Location location;
-    Rotation rotation;
-
-#ifdef LIBCARLA_INCLUDED_FROM_UE4
-
-    Transform(const FTransform &transform)
-      : Transform(Location(transform.GetLocation()), Rotation(transform.Rotator())) {}
-
-    operator FTransform() const {
-      const FVector scale{1.0f, 1.0f, 1.0f};
-      return FTransform{FRotator(rotation), FVector(location), scale};
-    }
-
-#endif // LIBCARLA_INCLUDED_FROM_UE4
-
-    MSGPACK_DEFINE_ARRAY(location, rotation);
-  };
+  using Transform = geom::Transform;
 
 } // namespace rpc
 } // namespace carla
diff --git a/LibCarla/source/carla/rpc/VehicleControl.h b/LibCarla/source/carla/rpc/VehicleControl.h
index bc7447cf5..f9635f180 100644
--- a/LibCarla/source/carla/rpc/VehicleControl.h
+++ b/LibCarla/source/carla/rpc/VehicleControl.h
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "carla/rpc/MsgPack.h"
+#include "carla/MsgPack.h"
 
 namespace carla {
 namespace rpc {
diff --git a/LibCarla/source/carla/streaming/Token.h b/LibCarla/source/carla/streaming/Token.h
index 1cc397d90..e8442512a 100644
--- a/LibCarla/source/carla/streaming/Token.h
+++ b/LibCarla/source/carla/streaming/Token.h
@@ -6,7 +6,7 @@
 
 #pragma once
 
-#include "carla/rpc/MsgPack.h"
+#include "carla/MsgPack.h"
 
 #include <array>
 
diff --git a/PythonAPI/source/libcarla/Transform.cpp b/PythonAPI/source/libcarla/Transform.cpp
index fda1aa341..d35083793 100644
--- a/PythonAPI/source/libcarla/Transform.cpp
+++ b/PythonAPI/source/libcarla/Transform.cpp
@@ -11,7 +11,7 @@
 #include <ostream>
 
 namespace carla {
-namespace rpc {
+namespace geom {
 
   std::ostream &operator<<(std::ostream &out, const Location &location) {
     out << "Location(x=" << location.x
@@ -32,18 +32,18 @@ namespace rpc {
     return out;
   }
 
-} // namespace rpc
+} // namespace geom
 } // namespace carla
 
 void export_transform() {
   using namespace boost::python;
-  namespace cc = carla::client;
+  namespace cg = carla::geom;
 
-  class_<cc::Location>("Location")
+  class_<cg::Location>("Location")
     .def(init<float, float, float>((arg("x")=0.0f, arg("y")=0.0f, arg("z")=0.0f)))
-    .def_readwrite("x", &cc::Location::x)
-    .def_readwrite("y", &cc::Location::y)
-    .def_readwrite("z", &cc::Location::z)
+    .def_readwrite("x", &cg::Location::x)
+    .def_readwrite("y", &cg::Location::y)
+    .def_readwrite("z", &cg::Location::z)
     .def(self += self)
     .def(self + self)
     .def(self -= self)
@@ -51,19 +51,19 @@ void export_transform() {
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cc::Rotation>("Rotation")
+  class_<cg::Rotation>("Rotation")
     .def(init<float, float, float>((arg("pitch")=0.0f, arg("yaw")=0.0f, arg("roll")=0.0f)))
-    .def_readwrite("pitch", &cc::Rotation::pitch)
-    .def_readwrite("yaw", &cc::Rotation::yaw)
-    .def_readwrite("roll", &cc::Rotation::roll)
+    .def_readwrite("pitch", &cg::Rotation::pitch)
+    .def_readwrite("yaw", &cg::Rotation::yaw)
+    .def_readwrite("roll", &cg::Rotation::roll)
     .def(self_ns::str(self_ns::self))
   ;
 
-  class_<cc::Transform>("Transform")
-    .def(init<cc::Location, cc::Rotation>(
-        (arg("location")=cc::Location(), arg("rotation")=cc::Rotation())))
-    .def_readwrite("location", &cc::Transform::location)
-    .def_readwrite("rotation", &cc::Transform::rotation)
+  class_<cg::Transform>("Transform")
+    .def(init<cg::Location, cg::Rotation>(
+        (arg("location")=cg::Location(), arg("rotation")=cg::Rotation())))
+    .def_readwrite("location", &cg::Transform::location)
+    .def_readwrite("rotation", &cg::Transform::rotation)
     .def(self_ns::str(self_ns::self))
   ;
 }