diff --git a/eigen3/src/Conversions_TEST.cc b/eigen3/src/Conversions_TEST.cc
index 73e667193..763df6e19 100644
--- a/eigen3/src/Conversions_TEST.cc
+++ b/eigen3/src/Conversions_TEST.cc
@@ -18,7 +18,7 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/math/eigen3/Conversions.hh>
+#include <gz/math/eigen3/Conversions.hh>
 
 /////////////////////////////////////////////////
 /// Check Vector3 conversions
diff --git a/eigen3/src/Util_TEST.cc b/eigen3/src/Util_TEST.cc
index 1e5220462..0e095f84f 100644
--- a/eigen3/src/Util_TEST.cc
+++ b/eigen3/src/Util_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/math/eigen3/Util.hh>
+#include <gz/math/eigen3/Util.hh>
 
 using namespace ignition;
 
diff --git a/include/gz/math/VolumetricGridLookupField.hh b/include/gz/math/VolumetricGridLookupField.hh
index 46c406031..b2b0d6399 100644
--- a/include/gz/math/VolumetricGridLookupField.hh
+++ b/include/gz/math/VolumetricGridLookupField.hh
@@ -21,10 +21,10 @@
 #include <vector>
 #include <optional>
 
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/detail/InterpolationPoint.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/detail/InterpolationPoint.hh>
 
-#include <ignition/math/detail/AxisIndex.hh>
+#include <gz/math/detail/AxisIndex.hh>
 
 namespace ignition
 {
diff --git a/include/gz/math/detail/AxisIndex.hh b/include/gz/math/detail/AxisIndex.hh
index 53db280e9..5988f9a0d 100644
--- a/include/gz/math/detail/AxisIndex.hh
+++ b/include/gz/math/detail/AxisIndex.hh
@@ -25,7 +25,7 @@
 
 #include <cassert>
 
-#include <ignition/math/detail/InterpolationPoint.hh>
+#include <gz/math/detail/InterpolationPoint.hh>
 
 namespace ignition
 {
diff --git a/include/gz/math/detail/InterpolationPoint.hh b/include/gz/math/detail/InterpolationPoint.hh
index 38296bfda..448b33c62 100644
--- a/include/gz/math/detail/InterpolationPoint.hh
+++ b/include/gz/math/detail/InterpolationPoint.hh
@@ -18,8 +18,8 @@
 #ifndef IGNITION_MATH_INTERPOLATION_POINT_HH_
 #define IGNITION_MATH_INTERPOLATION_POINT_HH_
 
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Vector2.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Vector2.hh>
 
 #include <optional>
 #include <vector>
diff --git a/src/AdditivelySeparableScalarField3_TEST.cc b/src/AdditivelySeparableScalarField3_TEST.cc
index bbd52d323..8b36b6400 100644
--- a/src/AdditivelySeparableScalarField3_TEST.cc
+++ b/src/AdditivelySeparableScalarField3_TEST.cc
@@ -18,8 +18,8 @@
 #include <functional>
 #include <ostream>
 
-#include "ignition/math/AdditivelySeparableScalarField3.hh"
-#include "ignition/math/Polynomial3.hh"
+#include "gz/math/AdditivelySeparableScalarField3.hh"
+#include "gz/math/Polynomial3.hh"
 
 using namespace ignition;
 
diff --git a/src/Angle.cc b/src/Angle.cc
index 93c9affba..fd76d35a4 100644
--- a/src/Angle.cc
+++ b/src/Angle.cc
@@ -14,8 +14,8 @@
  * limitations under the License.
  *
 */
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Angle.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Angle.hh"
 
 using namespace ignition::math;
 
diff --git a/src/Angle_TEST.cc b/src/Angle_TEST.cc
index 64d6f33a1..74385e82b 100644
--- a/src/Angle_TEST.cc
+++ b/src/Angle_TEST.cc
@@ -19,8 +19,8 @@
 
 #include <cmath>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Angle.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Angle.hh"
 
 using namespace ignition;
 
diff --git a/src/AxisAlignedBox.cc b/src/AxisAlignedBox.cc
index d398f8a87..727513cc7 100644
--- a/src/AxisAlignedBox.cc
+++ b/src/AxisAlignedBox.cc
@@ -15,7 +15,7 @@
  *
 */
 #include <cmath>
-#include <ignition/math/AxisAlignedBox.hh>
+#include <gz/math/AxisAlignedBox.hh>
 
 using namespace ignition;
 using namespace math;
diff --git a/src/AxisAlignedBox_TEST.cc b/src/AxisAlignedBox_TEST.cc
index 30f2f77af..86bf90bb7 100644
--- a/src/AxisAlignedBox_TEST.cc
+++ b/src/AxisAlignedBox_TEST.cc
@@ -17,7 +17,7 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/AxisAlignedBox.hh"
+#include "gz/math/AxisAlignedBox.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Box_TEST.cc b/src/Box_TEST.cc
index 18ef532a5..4b9194111 100644
--- a/src/Box_TEST.cc
+++ b/src/Box_TEST.cc
@@ -17,7 +17,7 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/Box.hh"
+#include "gz/math/Box.hh"
 
 using namespace ignition;
 
diff --git a/src/Capsule_TEST.cc b/src/Capsule_TEST.cc
index bb09828d9..d383eb837 100644
--- a/src/Capsule_TEST.cc
+++ b/src/Capsule_TEST.cc
@@ -18,8 +18,8 @@
 #include <cmath>
 #include <iostream>
 
-#include "ignition/math/Capsule.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Capsule.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 
diff --git a/src/Color.cc b/src/Color.cc
index 5fc74bdb2..801761057 100644
--- a/src/Color.cc
+++ b/src/Color.cc
@@ -17,7 +17,7 @@
 #include <cmath>
 #include <algorithm>
 
-#include "ignition/math/Color.hh"
+#include "gz/math/Color.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Color_TEST.cc b/src/Color_TEST.cc
index db51107c8..e6dbd1888 100644
--- a/src/Color_TEST.cc
+++ b/src/Color_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 #include <cmath>
-#include <ignition/math/Color.hh>
+#include <gz/math/Color.hh>
 
 using namespace ignition;
 
diff --git a/src/Cylinder_TEST.cc b/src/Cylinder_TEST.cc
index c0ad31de2..66bb8d1e5 100644
--- a/src/Cylinder_TEST.cc
+++ b/src/Cylinder_TEST.cc
@@ -18,7 +18,7 @@
 #include <cmath>
 #include <iostream>
 
-#include "ignition/math/Cylinder.hh"
+#include "gz/math/Cylinder.hh"
 
 using namespace ignition;
 
diff --git a/src/DiffDriveOdometry.cc b/src/DiffDriveOdometry.cc
index 1a351f447..99380687f 100644
--- a/src/DiffDriveOdometry.cc
+++ b/src/DiffDriveOdometry.cc
@@ -15,8 +15,8 @@
  *
 */
 #include <cmath>
-#include "ignition/math/DiffDriveOdometry.hh"
-#include "ignition/math/RollingMean.hh"
+#include "gz/math/DiffDriveOdometry.hh"
+#include "gz/math/RollingMean.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/DiffDriveOdometry_TEST.cc b/src/DiffDriveOdometry_TEST.cc
index 948f8b163..ea7a61c60 100644
--- a/src/DiffDriveOdometry_TEST.cc
+++ b/src/DiffDriveOdometry_TEST.cc
@@ -18,9 +18,9 @@
 #include <gtest/gtest.h>
 #include <thread>
 
-#include "ignition/math/Angle.hh"
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/DiffDriveOdometry.hh"
+#include "gz/math/Angle.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/DiffDriveOdometry.hh"
 
 using namespace ignition;
 
diff --git a/src/Ellipsoid_TEST.cc b/src/Ellipsoid_TEST.cc
index 3d89f15df..31d669a0c 100644
--- a/src/Ellipsoid_TEST.cc
+++ b/src/Ellipsoid_TEST.cc
@@ -18,9 +18,9 @@
 #include <cmath>
 #include <iostream>
 
-#include "ignition/math/Ellipsoid.hh"
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Vector3.hh"
+#include "gz/math/Ellipsoid.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Vector3.hh"
 
 using namespace ignition;
 
diff --git a/src/Filter_TEST.cc b/src/Filter_TEST.cc
index 84510665b..8d193d8cb 100644
--- a/src/Filter_TEST.cc
+++ b/src/Filter_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Filter.hh"
+#include "gz/math/Filter.hh"
 
 using namespace ignition;
 
diff --git a/src/Frustum.cc b/src/Frustum.cc
index 4cc013f29..0798b8f08 100644
--- a/src/Frustum.cc
+++ b/src/Frustum.cc
@@ -19,12 +19,12 @@
 #include <array>
 #include <utility>
 
-#include "ignition/math/Angle.hh"
-#include "ignition/math/AxisAlignedBox.hh"
-#include "ignition/math/Frustum.hh"
-#include "ignition/math/Matrix4.hh"
-#include "ignition/math/Plane.hh"
-#include "ignition/math/Pose3.hh"
+#include "gz/math/Angle.hh"
+#include "gz/math/AxisAlignedBox.hh"
+#include "gz/math/Frustum.hh"
+#include "gz/math/Matrix4.hh"
+#include "gz/math/Plane.hh"
+#include "gz/math/Pose3.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Frustum_TEST.cc b/src/Frustum_TEST.cc
index 65be6ee47..ce6fa1f54 100644
--- a/src/Frustum_TEST.cc
+++ b/src/Frustum_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Frustum.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Frustum.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/GaussMarkovProcess.cc b/src/GaussMarkovProcess.cc
index 694c30123..886e1d7e1 100644
--- a/src/GaussMarkovProcess.cc
+++ b/src/GaussMarkovProcess.cc
@@ -15,8 +15,8 @@
  *
 */
 
-#include <ignition/math/GaussMarkovProcess.hh>
-#include <ignition/math/Rand.hh>
+#include <gz/math/GaussMarkovProcess.hh>
+#include <gz/math/Rand.hh>
 
 using namespace ignition::math;
 
diff --git a/src/GaussMarkovProcess_TEST.cc b/src/GaussMarkovProcess_TEST.cc
index cc96cea56..6c05f71a9 100644
--- a/src/GaussMarkovProcess_TEST.cc
+++ b/src/GaussMarkovProcess_TEST.cc
@@ -17,9 +17,9 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/GaussMarkovProcess.hh"
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Rand.hh"
+#include "gz/math/GaussMarkovProcess.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Rand.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Helpers.cc b/src/Helpers.cc
index ab9f760b5..19795fcb1 100644
--- a/src/Helpers.cc
+++ b/src/Helpers.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *
 */
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Helpers.hh"
 
 #include <iomanip>
 #include <regex>
diff --git a/src/Helpers.i b/src/Helpers.i
index 1330deb55..096385f90 100644
--- a/src/Helpers.i
+++ b/src/Helpers.i
@@ -22,7 +22,7 @@
 
 %module helpers
 %{
-#include <ignition/math/Helpers.hh>
+#include <gz/math/Helpers.hh>
 %}
 
 template <typename T>
diff --git a/src/Helpers_TEST.cc b/src/Helpers_TEST.cc
index 4db24b5a5..30b165d3f 100644
--- a/src/Helpers_TEST.cc
+++ b/src/Helpers_TEST.cc
@@ -21,10 +21,10 @@
 #include <cmath>
 #include <limits>
 
-#include "ignition/math/Rand.hh"
-#include "ignition/math/Vector3.hh"
-#include "ignition/math/Helpers.hh"
-#include <ignition/utils/SuppressWarning.hh>
+#include "gz/math/Rand.hh"
+#include "gz/math/Vector3.hh"
+#include "gz/math/Helpers.hh"
+#include <gz/utils/SuppressWarning.hh>
 
 using namespace ignition;
 
diff --git a/src/Inertial_TEST.cc b/src/Inertial_TEST.cc
index 5cb02a1b2..17ab090b6 100644
--- a/src/Inertial_TEST.cc
+++ b/src/Inertial_TEST.cc
@@ -18,7 +18,7 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/Inertial.hh"
+#include "gz/math/Inertial.hh"
 
 using namespace ignition;
 
diff --git a/src/Interval_TEST.cc b/src/Interval_TEST.cc
index ecd0c8ee1..f378bb3e7 100644
--- a/src/Interval_TEST.cc
+++ b/src/Interval_TEST.cc
@@ -17,7 +17,7 @@
 #include <gtest/gtest.h>
 #include <ostream>
 
-#include "ignition/math/Interval.hh"
+#include "gz/math/Interval.hh"
 
 using namespace ignition;
 
diff --git a/src/Kmeans.cc b/src/Kmeans.cc
index 99cb73ec8..221e36f5a 100644
--- a/src/Kmeans.cc
+++ b/src/Kmeans.cc
@@ -15,11 +15,11 @@
  *
 */
 
-#include <ignition/math/Kmeans.hh>
+#include <gz/math/Kmeans.hh>
 
 #include <iostream>
 
-#include <ignition/math/Rand.hh>
+#include <gz/math/Rand.hh>
 #include "KmeansPrivate.hh"
 
 using namespace ignition;
diff --git a/src/KmeansPrivate.hh b/src/KmeansPrivate.hh
index d0008dac5..4e77af1f1 100644
--- a/src/KmeansPrivate.hh
+++ b/src/KmeansPrivate.hh
@@ -18,9 +18,9 @@
 #define IGNITION_MATH_KMEANSPRIVATE_HH_
 
 #include <vector>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/config.hh>
 
 namespace ignition
 {
diff --git a/src/Kmeans_TEST.cc b/src/Kmeans_TEST.cc
index 9bafae91c..780e00650 100644
--- a/src/Kmeans_TEST.cc
+++ b/src/Kmeans_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 #include <vector>
-#include "ignition/math/Kmeans.hh"
+#include "gz/math/Kmeans.hh"
 
 using namespace ignition;
 
diff --git a/src/Line2_TEST.cc b/src/Line2_TEST.cc
index 6ac265446..cef9e03e2 100644
--- a/src/Line2_TEST.cc
+++ b/src/Line2_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Line2.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Line2.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 
diff --git a/src/Line3_TEST.cc b/src/Line3_TEST.cc
index db50be5b6..d4dd57bba 100644
--- a/src/Line3_TEST.cc
+++ b/src/Line3_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Line3.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Line3.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 
diff --git a/src/MassMatrix3_TEST.cc b/src/MassMatrix3_TEST.cc
index 0b7e801cd..ef5750a8f 100644
--- a/src/MassMatrix3_TEST.cc
+++ b/src/MassMatrix3_TEST.cc
@@ -18,9 +18,9 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/MassMatrix3.hh"
-#include "ignition/math/Material.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/MassMatrix3.hh"
+#include "gz/math/Material.hh"
 
 using namespace ignition;
 
diff --git a/src/Material.cc b/src/Material.cc
index 52b622a8b..d5e4b7ab8 100644
--- a/src/Material.cc
+++ b/src/Material.cc
@@ -15,12 +15,12 @@
  *
 */
 
-#include "ignition/math/Material.hh"
+#include "gz/math/Material.hh"
 
 #include <algorithm>
 #include <memory>
 
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Helpers.hh"
 
 // Placing the kMaterialData in a separate file for conveniece and clarity.
 #include "MaterialType.hh"
diff --git a/src/Material_TEST.cc b/src/Material_TEST.cc
index a62ff8ef7..b5a7b6896 100644
--- a/src/Material_TEST.cc
+++ b/src/Material_TEST.cc
@@ -16,9 +16,9 @@
 */
 
 #include <gtest/gtest.h>
-#include "ignition/math/Material.hh"
-#include "ignition/math/MaterialType.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Material.hh"
+#include "gz/math/MaterialType.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Matrix3.i b/src/Matrix3.i
index f587bc4e7..d3a81c630 100644
--- a/src/Matrix3.i
+++ b/src/Matrix3.i
@@ -22,7 +22,7 @@
 
 %module matrix3
 %{
-#include <ignition/math/Matrix3.hh>
+#include <gz/math/Matrix3.hh>
 %}
 
 namespace ignition
diff --git a/src/Matrix3_TEST.cc b/src/Matrix3_TEST.cc
index 903fc99e1..817c7ff76 100644
--- a/src/Matrix3_TEST.cc
+++ b/src/Matrix3_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Matrix3.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Matrix3.hh"
 
 using namespace ignition;
 
diff --git a/src/Matrix4_TEST.cc b/src/Matrix4_TEST.cc
index 85005e996..0d498afac 100644
--- a/src/Matrix4_TEST.cc
+++ b/src/Matrix4_TEST.cc
@@ -17,10 +17,10 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Matrix4.hh"
-#include "ignition/math/Pose3.hh"
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/Vector3.hh"
+#include "gz/math/Matrix4.hh"
+#include "gz/math/Pose3.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/Vector3.hh"
 
 using namespace ignition;
 
diff --git a/src/MovingWindowFilter_TEST.cc b/src/MovingWindowFilter_TEST.cc
index 58651d64c..6e298e99c 100644
--- a/src/MovingWindowFilter_TEST.cc
+++ b/src/MovingWindowFilter_TEST.cc
@@ -16,8 +16,8 @@
 */
 
 #include <gtest/gtest.h>
-#include "ignition/math/Vector3.hh"
-#include "ignition/math/MovingWindowFilter.hh"
+#include "gz/math/Vector3.hh"
+#include "gz/math/MovingWindowFilter.hh"
 
 using namespace ignition;
 
diff --git a/src/OrientedBox_TEST.cc b/src/OrientedBox_TEST.cc
index 3cebddbbe..e4b204117 100644
--- a/src/OrientedBox_TEST.cc
+++ b/src/OrientedBox_TEST.cc
@@ -17,8 +17,8 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/Angle.hh"
-#include "ignition/math/OrientedBox.hh"
+#include "gz/math/Angle.hh"
+#include "gz/math/OrientedBox.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/PID.cc b/src/PID.cc
index fa6dcf0a8..52afe7b97 100644
--- a/src/PID.cc
+++ b/src/PID.cc
@@ -17,8 +17,8 @@
 
 #include <chrono>
 #include <cmath>
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/PID.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/PID.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/PID_TEST.cc b/src/PID_TEST.cc
index 89f00b745..d622f0864 100644
--- a/src/PID_TEST.cc
+++ b/src/PID_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/PID.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/PID.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 
diff --git a/src/PiecewiseScalarField3_TEST.cc b/src/PiecewiseScalarField3_TEST.cc
index ac7c10c1f..fc726ee4f 100644
--- a/src/PiecewiseScalarField3_TEST.cc
+++ b/src/PiecewiseScalarField3_TEST.cc
@@ -19,10 +19,10 @@
 #include <cmath>
 #include <functional>
 
-#include "ignition/math/AdditivelySeparableScalarField3.hh"
-#include "ignition/math/PiecewiseScalarField3.hh"
-#include "ignition/math/Polynomial3.hh"
-#include "ignition/math/Vector3.hh"
+#include "gz/math/AdditivelySeparableScalarField3.hh"
+#include "gz/math/PiecewiseScalarField3.hh"
+#include "gz/math/Polynomial3.hh"
+#include "gz/math/Vector3.hh"
 
 using namespace ignition;
 
diff --git a/src/Plane_TEST.cc b/src/Plane_TEST.cc
index e082d2c26..3009845a2 100644
--- a/src/Plane_TEST.cc
+++ b/src/Plane_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Plane.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Plane.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Polynomial3_TEST.cc b/src/Polynomial3_TEST.cc
index dc5998cfa..16b05d792 100644
--- a/src/Polynomial3_TEST.cc
+++ b/src/Polynomial3_TEST.cc
@@ -17,7 +17,7 @@
 #include <gtest/gtest.h>
 #include <ostream>
 
-#include "ignition/math/Polynomial3.hh"
+#include "gz/math/Polynomial3.hh"
 
 using namespace ignition;
 
diff --git a/src/Pose3.i b/src/Pose3.i
index 0847a5c1b..db91e5646 100644
--- a/src/Pose3.i
+++ b/src/Pose3.i
@@ -22,7 +22,7 @@
 
 %module pose3
 %{
-#include <ignition/math/Pose3.hh>
+#include <gz/math/Pose3.hh>
 %}
 
 namespace ignition
diff --git a/src/Pose_TEST.cc b/src/Pose_TEST.cc
index f51de223f..9207a28bd 100644
--- a/src/Pose_TEST.cc
+++ b/src/Pose_TEST.cc
@@ -17,9 +17,9 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/utils/SuppressWarning.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/utils/SuppressWarning.hh>
 
 using namespace ignition;
 
diff --git a/src/Quaternion.i b/src/Quaternion.i
index 023f50361..18dd2d25a 100644
--- a/src/Quaternion.i
+++ b/src/Quaternion.i
@@ -22,7 +22,7 @@
 
 %module quaternion
 %{
-#include <ignition/math/Quaternion.hh>
+#include <gz/math/Quaternion.hh>
 %}
 
 namespace ignition
diff --git a/src/Quaternion_TEST.cc b/src/Quaternion_TEST.cc
index 96002bc3c..82b9d3cb4 100644
--- a/src/Quaternion_TEST.cc
+++ b/src/Quaternion_TEST.cc
@@ -19,11 +19,11 @@
 
 #include <cmath>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/Matrix3.hh"
-#include "ignition/math/Matrix4.hh"
-#include <ignition/utils/SuppressWarning.hh>
+#include "gz/math/Helpers.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/Matrix3.hh"
+#include "gz/math/Matrix4.hh"
+#include <gz/utils/SuppressWarning.hh>
 
 using namespace ignition;
 
diff --git a/src/Rand.cc b/src/Rand.cc
index 95fcae443..8aee9b392 100644
--- a/src/Rand.cc
+++ b/src/Rand.cc
@@ -25,7 +25,7 @@
   #include <unistd.h>
 #endif
 
-#include "ignition/math/Rand.hh"
+#include "gz/math/Rand.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Rand_TEST.cc b/src/Rand_TEST.cc
index 447d2c7c3..d278c3880 100644
--- a/src/Rand_TEST.cc
+++ b/src/Rand_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Rand.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Rand.hh"
 
 using namespace ignition;
 
diff --git a/src/Region3_TEST.cc b/src/Region3_TEST.cc
index feb408919..da6486be5 100644
--- a/src/Region3_TEST.cc
+++ b/src/Region3_TEST.cc
@@ -17,7 +17,7 @@
 #include <gtest/gtest.h>
 #include <ostream>
 
-#include "ignition/math/Region3.hh"
+#include "gz/math/Region3.hh"
 
 using namespace ignition;
 
diff --git a/src/RollingMean.cc b/src/RollingMean.cc
index 067e2bb4d..b467fe2b6 100644
--- a/src/RollingMean.cc
+++ b/src/RollingMean.cc
@@ -18,7 +18,7 @@
 #include <numeric>
 #include <limits>
 #include <deque>
-#include "ignition/math/RollingMean.hh"
+#include "gz/math/RollingMean.hh"
 
 using namespace ignition::math;
 
diff --git a/src/RollingMean_TEST.cc b/src/RollingMean_TEST.cc
index 9ae85ffa4..17fcc182f 100644
--- a/src/RollingMean_TEST.cc
+++ b/src/RollingMean_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/RollingMean.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/RollingMean.hh"
 
 using namespace ignition;
 
diff --git a/src/RotationSpline.cc b/src/RotationSpline.cc
index e8c743e4a..fa3637428 100644
--- a/src/RotationSpline.cc
+++ b/src/RotationSpline.cc
@@ -14,8 +14,8 @@
  * limitations under the License.
  *
 */
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/RotationSpline.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/RotationSpline.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/RotationSpline_TEST.cc b/src/RotationSpline_TEST.cc
index cf5b2816f..dd8295afd 100644
--- a/src/RotationSpline_TEST.cc
+++ b/src/RotationSpline_TEST.cc
@@ -17,10 +17,10 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Vector3.hh"
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/RotationSpline.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Vector3.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/RotationSpline.hh"
 
 using namespace ignition;
 
diff --git a/src/SemanticVersion.cc b/src/SemanticVersion.cc
index 6ede46ee6..02aecb1a3 100644
--- a/src/SemanticVersion.cc
+++ b/src/SemanticVersion.cc
@@ -17,7 +17,7 @@
 
 #include <sstream>
 
-#include "ignition/math/SemanticVersion.hh"
+#include "gz/math/SemanticVersion.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/SemanticVersion_TEST.cc b/src/SemanticVersion_TEST.cc
index 66f60d268..cc0c1a59f 100644
--- a/src/SemanticVersion_TEST.cc
+++ b/src/SemanticVersion_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/SemanticVersion.hh"
+#include "gz/math/SemanticVersion.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/SignalStats.cc b/src/SignalStats.cc
index 4523bef3a..964b2e230 100644
--- a/src/SignalStats.cc
+++ b/src/SignalStats.cc
@@ -16,7 +16,7 @@
 */
 #include <cmath>
 #include <iostream>
-#include <ignition/math/SignalStats.hh>
+#include <gz/math/SignalStats.hh>
 #include "SignalStatsPrivate.hh"
 
 using namespace ignition;
diff --git a/src/SignalStatsPrivate.hh b/src/SignalStatsPrivate.hh
index e5e045e86..65400fd63 100644
--- a/src/SignalStatsPrivate.hh
+++ b/src/SignalStatsPrivate.hh
@@ -19,7 +19,7 @@
 
 #include <memory>
 #include <vector>
-#include <ignition/math/config.hh>
+#include <gz/math/config.hh>
 
 namespace ignition
 {
diff --git a/src/SignalStats_TEST.cc b/src/SignalStats_TEST.cc
index 8024fb93d..cdbc9456e 100644
--- a/src/SignalStats_TEST.cc
+++ b/src/SignalStats_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/math/Rand.hh>
-#include <ignition/math/SignalStats.hh>
+#include <gz/math/Rand.hh>
+#include <gz/math/SignalStats.hh>
 
 using namespace ignition;
 
diff --git a/src/SpeedLimiter.cc b/src/SpeedLimiter.cc
index 267c95117..49464a88a 100644
--- a/src/SpeedLimiter.cc
+++ b/src/SpeedLimiter.cc
@@ -15,8 +15,8 @@
  *
 */
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/SpeedLimiter.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/SpeedLimiter.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/SpeedLimiter_TEST.cc b/src/SpeedLimiter_TEST.cc
index 7f4c46134..9092e9f6a 100644
--- a/src/SpeedLimiter_TEST.cc
+++ b/src/SpeedLimiter_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/SpeedLimiter.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/SpeedLimiter.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Sphere_TEST.cc b/src/Sphere_TEST.cc
index cfb069c87..aa1f97a5f 100644
--- a/src/Sphere_TEST.cc
+++ b/src/Sphere_TEST.cc
@@ -18,7 +18,7 @@
 #include <cmath>
 #include <iostream>
 
-#include "ignition/math/Sphere.hh"
+#include "gz/math/Sphere.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/SphericalCoordinates.cc b/src/SphericalCoordinates.cc
index 2c2c5ddd8..c66d93e46 100644
--- a/src/SphericalCoordinates.cc
+++ b/src/SphericalCoordinates.cc
@@ -17,8 +17,8 @@
 #include <iostream>
 #include <string>
 
-#include "ignition/math/Matrix3.hh"
-#include "ignition/math/SphericalCoordinates.hh"
+#include "gz/math/Matrix3.hh"
+#include "gz/math/SphericalCoordinates.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/SphericalCoordinates_TEST.cc b/src/SphericalCoordinates_TEST.cc
index 3d777f62f..e6297d688 100644
--- a/src/SphericalCoordinates_TEST.cc
+++ b/src/SphericalCoordinates_TEST.cc
@@ -16,7 +16,7 @@
 */
 #include <gtest/gtest.h>
 
-#include "ignition/math/SphericalCoordinates.hh"
+#include "gz/math/SphericalCoordinates.hh"
 
 using namespace ignition;
 
diff --git a/src/Spline.cc b/src/Spline.cc
index 483cade93..b4dfbedec 100644
--- a/src/Spline.cc
+++ b/src/Spline.cc
@@ -17,9 +17,9 @@
 // Note: Originally cribbed from Ogre3d. Modified to implement Cardinal
 // spline and catmull-rom spline
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Vector4.hh"
-#include "ignition/math/Spline.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Vector4.hh"
+#include "gz/math/Spline.hh"
 
 #include "SplinePrivate.hh"
 
diff --git a/src/SplinePrivate.cc b/src/SplinePrivate.cc
index 168385bb7..570acf9dd 100644
--- a/src/SplinePrivate.cc
+++ b/src/SplinePrivate.cc
@@ -15,7 +15,7 @@
  *
 */
 
-#include "ignition/math/Matrix4.hh"
+#include "gz/math/Matrix4.hh"
 
 #include "SplinePrivate.hh"
 
diff --git a/src/SplinePrivate.hh b/src/SplinePrivate.hh
index 097cfeae8..fea4d391b 100644
--- a/src/SplinePrivate.hh
+++ b/src/SplinePrivate.hh
@@ -19,11 +19,11 @@
 
 #include <algorithm>
 #include <vector>
-#include <ignition/math/Matrix4.hh>
-#include <ignition/math/Spline.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Vector4.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/Matrix4.hh>
+#include <gz/math/Spline.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Vector4.hh>
+#include <gz/math/config.hh>
 
 namespace ignition
 {
diff --git a/src/Spline_TEST.cc b/src/Spline_TEST.cc
index d1d013344..a1bf856c9 100644
--- a/src/Spline_TEST.cc
+++ b/src/Spline_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Vector3.hh"
-#include "ignition/math/Spline.hh"
+#include "gz/math/Vector3.hh"
+#include "gz/math/Spline.hh"
 
 using namespace ignition;
 
diff --git a/src/Stopwatch.cc b/src/Stopwatch.cc
index ebc2101d3..2e6474975 100644
--- a/src/Stopwatch.cc
+++ b/src/Stopwatch.cc
@@ -15,7 +15,7 @@
  *
 */
 #include <chrono>
-#include "ignition/math/Stopwatch.hh"
+#include "gz/math/Stopwatch.hh"
 
 using namespace ignition::math;
 
diff --git a/src/Stopwatch_TEST.cc b/src/Stopwatch_TEST.cc
index e0e578d79..b2565df69 100644
--- a/src/Stopwatch_TEST.cc
+++ b/src/Stopwatch_TEST.cc
@@ -18,7 +18,7 @@
 #include <gtest/gtest.h>
 #include <thread>
 
-#include "ignition/math/Stopwatch.hh"
+#include "gz/math/Stopwatch.hh"
 
 using namespace ignition;
 
diff --git a/src/Temperature.cc b/src/Temperature.cc
index b779889c1..d1772d195 100644
--- a/src/Temperature.cc
+++ b/src/Temperature.cc
@@ -15,7 +15,7 @@
  *
 */
 
-#include "ignition/math/Temperature.hh"
+#include "gz/math/Temperature.hh"
 
 #include <istream>
 #include <ostream>
diff --git a/src/Temperature.i b/src/Temperature.i
index cddc0acf9..d150bf0a0 100644
--- a/src/Temperature.i
+++ b/src/Temperature.i
@@ -17,7 +17,7 @@
 
 %module temperature
 %{
-#include <ignition/math/Temperature.hh>
+#include <gz/math/Temperature.hh>
 %}
 
 namespace ignition
diff --git a/src/Temperature_TEST.cc b/src/Temperature_TEST.cc
index edcf1df9a..bb03a6377 100644
--- a/src/Temperature_TEST.cc
+++ b/src/Temperature_TEST.cc
@@ -16,7 +16,7 @@
 */
 #include <gtest/gtest.h>
 
-#include "ignition/math/Temperature.hh"
+#include "gz/math/Temperature.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Triangle3_TEST.cc b/src/Triangle3_TEST.cc
index bcc798ede..92293e506 100644
--- a/src/Triangle3_TEST.cc
+++ b/src/Triangle3_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Triangle3.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Triangle3.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Triangle_TEST.cc b/src/Triangle_TEST.cc
index 0e2e3372c..25097de05 100644
--- a/src/Triangle_TEST.cc
+++ b/src/Triangle_TEST.cc
@@ -17,8 +17,8 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Triangle.hh"
-#include "ignition/math/Helpers.hh"
+#include "gz/math/Triangle.hh"
+#include "gz/math/Helpers.hh"
 
 using namespace ignition;
 
diff --git a/src/Vector2_TEST.cc b/src/Vector2_TEST.cc
index 7f825d5fc..5116babbf 100644
--- a/src/Vector2_TEST.cc
+++ b/src/Vector2_TEST.cc
@@ -18,8 +18,8 @@
 #include <gtest/gtest.h>
 #include <cmath>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Vector2.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Vector2.hh"
 
 using namespace ignition;
 
diff --git a/src/Vector3Stats.cc b/src/Vector3Stats.cc
index 71b813772..346cd59ce 100644
--- a/src/Vector3Stats.cc
+++ b/src/Vector3Stats.cc
@@ -14,7 +14,7 @@
  * limitations under the License.
  *
 */
-#include <ignition/math/Vector3Stats.hh>
+#include <gz/math/Vector3Stats.hh>
 
 using namespace ignition;
 using namespace math;
diff --git a/src/Vector3Stats_TEST.cc b/src/Vector3Stats_TEST.cc
index 39fc5a5eb..d6c799a39 100644
--- a/src/Vector3Stats_TEST.cc
+++ b/src/Vector3Stats_TEST.cc
@@ -17,7 +17,7 @@
 
 #include <gtest/gtest.h>
 
-#include <ignition/math/Vector3Stats.hh>
+#include <gz/math/Vector3Stats.hh>
 
 using namespace ignition;
 
diff --git a/src/Vector3_TEST.cc b/src/Vector3_TEST.cc
index 21164deaf..0c62f571b 100644
--- a/src/Vector3_TEST.cc
+++ b/src/Vector3_TEST.cc
@@ -20,8 +20,8 @@
 #include <numeric>
 #include <sstream>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Vector3.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Vector3.hh"
 
 using namespace ignition;
 
diff --git a/src/Vector4_TEST.cc b/src/Vector4_TEST.cc
index e540adf79..58455e2a3 100644
--- a/src/Vector4_TEST.cc
+++ b/src/Vector4_TEST.cc
@@ -17,9 +17,9 @@
 
 #include <gtest/gtest.h>
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Matrix4.hh"
-#include "ignition/math/Vector4.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Matrix4.hh"
+#include "gz/math/Vector4.hh"
 
 using namespace ignition;
 
diff --git a/src/graph/Edge_TEST.cc b/src/graph/Edge_TEST.cc
index ac6c1a247..ec3b0c3e7 100644
--- a/src/graph/Edge_TEST.cc
+++ b/src/graph/Edge_TEST.cc
@@ -19,8 +19,8 @@
 #include <iostream>
 #include <string>
 
-#include "ignition/math/graph/Edge.hh"
-#include "ignition/math/graph/Vertex.hh"
+#include "gz/math/graph/Edge.hh"
+#include "gz/math/graph/Vertex.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/graph/GraphAlgorithms_TEST.cc b/src/graph/GraphAlgorithms_TEST.cc
index 87e238abb..89acff4aa 100644
--- a/src/graph/GraphAlgorithms_TEST.cc
+++ b/src/graph/GraphAlgorithms_TEST.cc
@@ -18,8 +18,8 @@
 #include <gtest/gtest.h>
 #include <string>
 
-#include "ignition/math/graph/Graph.hh"
-#include "ignition/math/graph/GraphAlgorithms.hh"
+#include "gz/math/graph/Graph.hh"
+#include "gz/math/graph/GraphAlgorithms.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/graph/GraphDirected_TEST.cc b/src/graph/GraphDirected_TEST.cc
index 81984f5aa..ae40602ed 100644
--- a/src/graph/GraphDirected_TEST.cc
+++ b/src/graph/GraphDirected_TEST.cc
@@ -19,7 +19,7 @@
 #include <iostream>
 #include <string>
 
-#include "ignition/math/graph/Graph.hh"
+#include "gz/math/graph/Graph.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/graph/GraphUndirected_TEST.cc b/src/graph/GraphUndirected_TEST.cc
index dd34afc36..20aba5948 100644
--- a/src/graph/GraphUndirected_TEST.cc
+++ b/src/graph/GraphUndirected_TEST.cc
@@ -21,7 +21,7 @@
 #include <utility>
 #include <vector>
 
-#include "ignition/math/graph/Graph.hh"
+#include "gz/math/graph/Graph.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/graph/Graph_TEST.cc b/src/graph/Graph_TEST.cc
index e58c9bdee..2ec96881d 100644
--- a/src/graph/Graph_TEST.cc
+++ b/src/graph/Graph_TEST.cc
@@ -18,7 +18,7 @@
 #include <gtest/gtest.h>
 #include <string>
 
-#include "ignition/math/graph/Graph.hh"
+#include "gz/math/graph/Graph.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/graph/Vertex_TEST.cc b/src/graph/Vertex_TEST.cc
index 2bc0b0634..49be7de3c 100644
--- a/src/graph/Vertex_TEST.cc
+++ b/src/graph/Vertex_TEST.cc
@@ -19,7 +19,7 @@
 #include <iostream>
 #include <string>
 
-#include "ignition/math/graph/Vertex.hh"
+#include "gz/math/graph/Vertex.hh"
 
 using namespace ignition;
 using namespace math;
diff --git a/src/python_pybind11/src/Angle.cc b/src/python_pybind11/src/Angle.cc
index b7cb360e6..32b9f90f2 100644
--- a/src/python_pybind11/src/Angle.cc
+++ b/src/python_pybind11/src/Angle.cc
@@ -18,7 +18,7 @@
 #include <sstream>
 #include <string>
 
-#include <ignition/math/Angle.hh>
+#include <gz/math/Angle.hh>
 #include <pybind11/operators.h>
 
 #include "Angle.hh"
diff --git a/src/python_pybind11/src/AxisAlignedBox.cc b/src/python_pybind11/src/AxisAlignedBox.cc
index c9c892995..5b58fc528 100644
--- a/src/python_pybind11/src/AxisAlignedBox.cc
+++ b/src/python_pybind11/src/AxisAlignedBox.cc
@@ -22,8 +22,8 @@
 
 #include "AxisAlignedBox.hh"
 
-#include <ignition/math/AxisAlignedBox.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Vector3.hh>
 
 using namespace pybind11::literals;
 
diff --git a/src/python_pybind11/src/Box.hh b/src/python_pybind11/src/Box.hh
index 49a7c79ab..baf5cb590 100644
--- a/src/python_pybind11/src/Box.hh
+++ b/src/python_pybind11/src/Box.hh
@@ -25,7 +25,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Box.hh>
+#include <gz/math/Box.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Capsule.hh b/src/python_pybind11/src/Capsule.hh
index fef96cfe4..92eeed120 100644
--- a/src/python_pybind11/src/Capsule.hh
+++ b/src/python_pybind11/src/Capsule.hh
@@ -24,7 +24,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Capsule.hh>
+#include <gz/math/Capsule.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Color.cc b/src/python_pybind11/src/Color.cc
index 56fa751af..e643e1aaa 100644
--- a/src/python_pybind11/src/Color.cc
+++ b/src/python_pybind11/src/Color.cc
@@ -19,7 +19,7 @@
 #include <string>
 
 #include "Color.hh"
-#include <ignition/math/Color.hh>
+#include <gz/math/Color.hh>
 
 #include <pybind11/operators.h>
 
diff --git a/src/python_pybind11/src/Cylinder.hh b/src/python_pybind11/src/Cylinder.hh
index eb7ecc722..6480dc91b 100644
--- a/src/python_pybind11/src/Cylinder.hh
+++ b/src/python_pybind11/src/Cylinder.hh
@@ -24,7 +24,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Cylinder.hh>
+#include <gz/math/Cylinder.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/DiffDriveOdometry.hh b/src/python_pybind11/src/DiffDriveOdometry.hh
index bc261df2d..fdab22418 100644
--- a/src/python_pybind11/src/DiffDriveOdometry.hh
+++ b/src/python_pybind11/src/DiffDriveOdometry.hh
@@ -22,7 +22,7 @@
 #include <pybind11/chrono.h>
 #include <string>
 
-#include <ignition/math/DiffDriveOdometry.hh>
+#include <gz/math/DiffDriveOdometry.hh>
 
 namespace py = pybind11;
 
diff --git a/src/python_pybind11/src/Ellipsoid.hh b/src/python_pybind11/src/Ellipsoid.hh
index 418cd17e0..ff2fdfa77 100644
--- a/src/python_pybind11/src/Ellipsoid.hh
+++ b/src/python_pybind11/src/Ellipsoid.hh
@@ -24,8 +24,8 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Ellipsoid.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Ellipsoid.hh>
+#include <gz/math/Vector3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Filter.hh b/src/python_pybind11/src/Filter.hh
index df8b59e80..30faac9c2 100644
--- a/src/python_pybind11/src/Filter.hh
+++ b/src/python_pybind11/src/Filter.hh
@@ -22,9 +22,9 @@
 
 #include <pybind11/pybind11.h>
 
-#include <ignition/math/Filter.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Filter.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
 
 namespace py = pybind11;
 
diff --git a/src/python_pybind11/src/Frustum.cc b/src/python_pybind11/src/Frustum.cc
index 7434ff440..daf2b756f 100644
--- a/src/python_pybind11/src/Frustum.cc
+++ b/src/python_pybind11/src/Frustum.cc
@@ -17,7 +17,7 @@
 #include <string>
 
 #include "Frustum.hh"
-#include <ignition/math/Frustum.hh>
+#include <gz/math/Frustum.hh>
 
 #include <pybind11/operators.h>
 #include <pybind11/stl_bind.h>
diff --git a/src/python_pybind11/src/GaussMarkovProcess.cc b/src/python_pybind11/src/GaussMarkovProcess.cc
index 928744409..786f8f6ac 100644
--- a/src/python_pybind11/src/GaussMarkovProcess.cc
+++ b/src/python_pybind11/src/GaussMarkovProcess.cc
@@ -22,7 +22,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/chrono.h>
 
-#include <ignition/math/GaussMarkovProcess.hh>
+#include <gz/math/GaussMarkovProcess.hh>
 
 #include "GaussMarkovProcess.hh"
 
diff --git a/src/python_pybind11/src/Helpers.cc b/src/python_pybind11/src/Helpers.cc
index 67ee97f34..df33a255e 100644
--- a/src/python_pybind11/src/Helpers.cc
+++ b/src/python_pybind11/src/Helpers.cc
@@ -19,8 +19,8 @@
 #include <pybind11/stl.h>
 
 #include "Helpers.hh"
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector3.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/Inertial.hh b/src/python_pybind11/src/Inertial.hh
index 94b1de7b3..dd66cc1c2 100644
--- a/src/python_pybind11/src/Inertial.hh
+++ b/src/python_pybind11/src/Inertial.hh
@@ -24,7 +24,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Inertial.hh>
+#include <gz/math/Inertial.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Kmeans.cc b/src/python_pybind11/src/Kmeans.cc
index 13af747dc..cd3273685 100644
--- a/src/python_pybind11/src/Kmeans.cc
+++ b/src/python_pybind11/src/Kmeans.cc
@@ -18,7 +18,7 @@
 #include <vector>
 
 #include "Kmeans.hh"
-#include <ignition/math/Kmeans.hh>
+#include <gz/math/Kmeans.hh>
 #include <pybind11/stl.h>
 
 namespace ignition
diff --git a/src/python_pybind11/src/Line2.hh b/src/python_pybind11/src/Line2.hh
index 2fb1d78ee..1a59603dd 100644
--- a/src/python_pybind11/src/Line2.hh
+++ b/src/python_pybind11/src/Line2.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Line2.hh>
+#include <gz/math/Line2.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Line3.hh b/src/python_pybind11/src/Line3.hh
index 2a5576bc6..d7d949da4 100644
--- a/src/python_pybind11/src/Line3.hh
+++ b/src/python_pybind11/src/Line3.hh
@@ -24,8 +24,8 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Line3.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Line3.hh>
+#include <gz/math/Vector3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/MassMatrix3.hh b/src/python_pybind11/src/MassMatrix3.hh
index 97f9e830f..c6e584b54 100644
--- a/src/python_pybind11/src/MassMatrix3.hh
+++ b/src/python_pybind11/src/MassMatrix3.hh
@@ -22,8 +22,8 @@
 #include <pybind11/operators.h>
 #include <string>
 
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/MassMatrix3.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/MassMatrix3.hh>
 
 namespace py = pybind11;
 
diff --git a/src/python_pybind11/src/Material.cc b/src/python_pybind11/src/Material.cc
index 929293e97..fee925ba9 100644
--- a/src/python_pybind11/src/Material.cc
+++ b/src/python_pybind11/src/Material.cc
@@ -19,8 +19,8 @@
 #include <string>
 
 #include "Material.hh"
-#include <ignition/math/Material.hh>
-#include <ignition/math/MaterialType.hh>
+#include <gz/math/Material.hh>
+#include <gz/math/MaterialType.hh>
 
 #include <pybind11/operators.h>
 #include <pybind11/stl_bind.h>
diff --git a/src/python_pybind11/src/Matrix3.hh b/src/python_pybind11/src/Matrix3.hh
index c4715c6fa..a6a5a32dc 100644
--- a/src/python_pybind11/src/Matrix3.hh
+++ b/src/python_pybind11/src/Matrix3.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Matrix3.hh>
+#include <gz/math/Matrix3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Matrix4.hh b/src/python_pybind11/src/Matrix4.hh
index 6d1c17e02..f7e4a0472 100644
--- a/src/python_pybind11/src/Matrix4.hh
+++ b/src/python_pybind11/src/Matrix4.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Matrix4.hh>
+#include <gz/math/Matrix4.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/MovingWindowFilter.cc b/src/python_pybind11/src/MovingWindowFilter.cc
index 264178e52..c90733784 100644
--- a/src/python_pybind11/src/MovingWindowFilter.cc
+++ b/src/python_pybind11/src/MovingWindowFilter.cc
@@ -17,7 +17,7 @@
 
 #include <string>
 
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Vector3.hh>
 #include "MovingWindowFilter.hh"
 
 namespace ignition
diff --git a/src/python_pybind11/src/MovingWindowFilter.hh b/src/python_pybind11/src/MovingWindowFilter.hh
index 0e4988899..a499ccb64 100644
--- a/src/python_pybind11/src/MovingWindowFilter.hh
+++ b/src/python_pybind11/src/MovingWindowFilter.hh
@@ -22,7 +22,7 @@
 
 #include <pybind11/pybind11.h>
 
-#include <ignition/math/MovingWindowFilter.hh>
+#include <gz/math/MovingWindowFilter.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/OrientedBox.hh b/src/python_pybind11/src/OrientedBox.hh
index 84c949d79..118b15f86 100644
--- a/src/python_pybind11/src/OrientedBox.hh
+++ b/src/python_pybind11/src/OrientedBox.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/OrientedBox.hh>
+#include <gz/math/OrientedBox.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/PID.cc b/src/python_pybind11/src/PID.cc
index fe53e00a0..4d8ccb37c 100644
--- a/src/python_pybind11/src/PID.cc
+++ b/src/python_pybind11/src/PID.cc
@@ -18,7 +18,7 @@
 #include <pybind11/chrono.h>
 #include <string>
 
-#include <ignition/math/PID.hh>
+#include <gz/math/PID.hh>
 
 #include "PID.hh"
 
diff --git a/src/python_pybind11/src/Plane.hh b/src/python_pybind11/src/Plane.hh
index deadb6526..f310dbd26 100644
--- a/src/python_pybind11/src/Plane.hh
+++ b/src/python_pybind11/src/Plane.hh
@@ -24,7 +24,7 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Plane.hh>
+#include <gz/math/Plane.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Pose3.hh b/src/python_pybind11/src/Pose3.hh
index 8297134c3..4dc6a17c7 100644
--- a/src/python_pybind11/src/Pose3.hh
+++ b/src/python_pybind11/src/Pose3.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Pose3.hh>
+#include <gz/math/Pose3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Quaternion.hh b/src/python_pybind11/src/Quaternion.hh
index c87e1b267..e191bb782 100644
--- a/src/python_pybind11/src/Quaternion.hh
+++ b/src/python_pybind11/src/Quaternion.hh
@@ -25,9 +25,9 @@
 #include <pybind11/operators.h>
 #include <pybind11/stl.h>
 
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Matrix3.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Matrix3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Rand.cc b/src/python_pybind11/src/Rand.cc
index eae9181e6..9818ba229 100644
--- a/src/python_pybind11/src/Rand.cc
+++ b/src/python_pybind11/src/Rand.cc
@@ -17,7 +17,7 @@
 #include <string>
 
 #include "Rand.hh"
-#include <ignition/math/Rand.hh>
+#include <gz/math/Rand.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/RollingMean.cc b/src/python_pybind11/src/RollingMean.cc
index c84279451..c5c446eba 100644
--- a/src/python_pybind11/src/RollingMean.cc
+++ b/src/python_pybind11/src/RollingMean.cc
@@ -16,7 +16,7 @@
 */
 #include <string>
 #include "RollingMean.hh"
-#include <ignition/math/RollingMean.hh>
+#include <gz/math/RollingMean.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/RotationSpline.cc b/src/python_pybind11/src/RotationSpline.cc
index f457a9ba3..fab414e6a 100644
--- a/src/python_pybind11/src/RotationSpline.cc
+++ b/src/python_pybind11/src/RotationSpline.cc
@@ -16,7 +16,7 @@
 */
 #include <string>
 #include "RotationSpline.hh"
-#include <ignition/math/RotationSpline.hh>
+#include <gz/math/RotationSpline.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/SemanticVersion.cc b/src/python_pybind11/src/SemanticVersion.cc
index e42e2ff73..42019f367 100644
--- a/src/python_pybind11/src/SemanticVersion.cc
+++ b/src/python_pybind11/src/SemanticVersion.cc
@@ -18,7 +18,7 @@
 #include <sstream>
 #include <string>
 
-#include <ignition/math/SemanticVersion.hh>
+#include <gz/math/SemanticVersion.hh>
 #include <pybind11/operators.h>
 
 #include "SemanticVersion.hh"
diff --git a/src/python_pybind11/src/SignalStats.cc b/src/python_pybind11/src/SignalStats.cc
index 69b31e661..8260cf109 100644
--- a/src/python_pybind11/src/SignalStats.cc
+++ b/src/python_pybind11/src/SignalStats.cc
@@ -20,7 +20,7 @@
 #include <string>
 
 #include "SignalStats.hh"
-#include <ignition/math/SignalStats.hh>
+#include <gz/math/SignalStats.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/Sphere.hh b/src/python_pybind11/src/Sphere.hh
index 4e005e80c..a6294cf97 100644
--- a/src/python_pybind11/src/Sphere.hh
+++ b/src/python_pybind11/src/Sphere.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Sphere.hh>
+#include <gz/math/Sphere.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/SphericalCoordinates.cc b/src/python_pybind11/src/SphericalCoordinates.cc
index 9bf0dee7c..211e6b517 100644
--- a/src/python_pybind11/src/SphericalCoordinates.cc
+++ b/src/python_pybind11/src/SphericalCoordinates.cc
@@ -17,8 +17,8 @@
 #include <pybind11/operators.h>
 
 #include "SphericalCoordinates.hh"
-#include <ignition/math/Angle.hh>
-#include <ignition/math/SphericalCoordinates.hh>
+#include <gz/math/Angle.hh>
+#include <gz/math/SphericalCoordinates.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/Spline.cc b/src/python_pybind11/src/Spline.cc
index c5ce95ecc..0c7314208 100644
--- a/src/python_pybind11/src/Spline.cc
+++ b/src/python_pybind11/src/Spline.cc
@@ -16,7 +16,7 @@
 */
 #include <string>
 #include "Spline.hh"
-#include <ignition/math/Spline.hh>
+#include <gz/math/Spline.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/StopWatch.cc b/src/python_pybind11/src/StopWatch.cc
index 2d2dbe5cf..2587a66b2 100644
--- a/src/python_pybind11/src/StopWatch.cc
+++ b/src/python_pybind11/src/StopWatch.cc
@@ -21,7 +21,7 @@
 
 #include "StopWatch.hh"
 
-#include <ignition/math/Stopwatch.hh>
+#include <gz/math/Stopwatch.hh>
 
 namespace ignition
 {
diff --git a/src/python_pybind11/src/Temperature.cc b/src/python_pybind11/src/Temperature.cc
index 087351bd8..3affb0066 100644
--- a/src/python_pybind11/src/Temperature.cc
+++ b/src/python_pybind11/src/Temperature.cc
@@ -18,7 +18,7 @@
 #include <sstream>
 #include <string>
 
-#include <ignition/math/Temperature.hh>
+#include <gz/math/Temperature.hh>
 
 #include "Temperature.hh"
 #include <pybind11/operators.h>
diff --git a/src/python_pybind11/src/Triangle.hh b/src/python_pybind11/src/Triangle.hh
index 407ee207f..7502f13cf 100644
--- a/src/python_pybind11/src/Triangle.hh
+++ b/src/python_pybind11/src/Triangle.hh
@@ -23,7 +23,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Triangle.hh>
+#include <gz/math/Triangle.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Triangle3.hh b/src/python_pybind11/src/Triangle3.hh
index 9d0a8b223..923c8c7e6 100644
--- a/src/python_pybind11/src/Triangle3.hh
+++ b/src/python_pybind11/src/Triangle3.hh
@@ -23,7 +23,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Triangle3.hh>
+#include <gz/math/Triangle3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Vector2.hh b/src/python_pybind11/src/Vector2.hh
index cdd2aab17..864586f7e 100644
--- a/src/python_pybind11/src/Vector2.hh
+++ b/src/python_pybind11/src/Vector2.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Vector2.hh>
+#include <gz/math/Vector2.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Vector3.hh b/src/python_pybind11/src/Vector3.hh
index 90b76da98..3e25e2584 100644
--- a/src/python_pybind11/src/Vector3.hh
+++ b/src/python_pybind11/src/Vector3.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Vector3.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/python_pybind11/src/Vector3Stats.cc b/src/python_pybind11/src/Vector3Stats.cc
index a0081819c..a92fe085a 100644
--- a/src/python_pybind11/src/Vector3Stats.cc
+++ b/src/python_pybind11/src/Vector3Stats.cc
@@ -17,7 +17,7 @@
 
 #include <string>
 
-#include <ignition/math/Vector3Stats.hh>
+#include <gz/math/Vector3Stats.hh>
 
 #include "Vector3Stats.hh"
 
diff --git a/src/python_pybind11/src/Vector4.hh b/src/python_pybind11/src/Vector4.hh
index 2a855bffb..6f7bff8da 100644
--- a/src/python_pybind11/src/Vector4.hh
+++ b/src/python_pybind11/src/Vector4.hh
@@ -24,7 +24,7 @@
 #include <pybind11/pybind11.h>
 #include <pybind11/operators.h>
 
-#include <ignition/math/Vector4.hh>
+#include <gz/math/Vector4.hh>
 
 namespace py = pybind11;
 using namespace pybind11::literals;
diff --git a/src/ruby/Angle.i b/src/ruby/Angle.i
index 190d11c8b..47f72905e 100644
--- a/src/ruby/Angle.i
+++ b/src/ruby/Angle.i
@@ -17,7 +17,7 @@
 
 %module angle
 %{
-#include <ignition/math/Angle.hh>
+#include <gz/math/Angle.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/AxisAlignedBox.i b/src/ruby/AxisAlignedBox.i
index a8d66ff9d..9c2c50874 100644
--- a/src/ruby/AxisAlignedBox.i
+++ b/src/ruby/AxisAlignedBox.i
@@ -19,11 +19,11 @@
 %{
 #include <iostream>
 #include <tuple>
-#include <ignition/math/AxisAlignedBox.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Line3.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Line3.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "typemaps.i"
diff --git a/src/ruby/Box.i b/src/ruby/Box.i
index dbdd32b5f..2d801601b 100644
--- a/src/ruby/Box.i
+++ b/src/ruby/Box.i
@@ -17,14 +17,14 @@
 
 %module box
 %{
-#include <ignition/math/Box.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/MassMatrix3.hh>
-#include <ignition/math/Material.hh>
-#include <ignition/math/Plane.hh>
-#include <ignition/math/Vector3.hh>
-
-#include "ignition/math/detail/WellOrderedVector.hh"
+#include <gz/math/Box.hh>
+#include <gz/math/config.hh>
+#include <gz/math/MassMatrix3.hh>
+#include <gz/math/Material.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/Vector3.hh>
+
+#include "gz/math/detail/WellOrderedVector.hh"
 
 #include <set>
 #include <optional>
diff --git a/src/ruby/Color.i b/src/ruby/Color.i
index 079473c47..cb8b254f8 100644
--- a/src/ruby/Color.i
+++ b/src/ruby/Color.i
@@ -18,10 +18,10 @@
 %module Color
 %{
 #include <sstream>
-#include <ignition/math/Color.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Color.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Cylinder.i b/src/ruby/Cylinder.i
index a5226ae27..3799d932f 100644
--- a/src/ruby/Cylinder.i
+++ b/src/ruby/Cylinder.i
@@ -17,11 +17,11 @@
 
 %module cylinder
 %{
-#include <ignition/math/Cylinder.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/MassMatrix3.hh>
-#include <ignition/math/Material.hh>
-#include <ignition/math/Quaternion.hh>
+#include <gz/math/Cylinder.hh>
+#include <gz/math/config.hh>
+#include <gz/math/MassMatrix3.hh>
+#include <gz/math/Material.hh>
+#include <gz/math/Quaternion.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/DiffDriveOdometry.i b/src/ruby/DiffDriveOdometry.i
index 216c511c1..efb7d5901 100644
--- a/src/ruby/DiffDriveOdometry.i
+++ b/src/ruby/DiffDriveOdometry.i
@@ -19,10 +19,10 @@
 %{
 #include <chrono>
 #include <memory>
-#include <ignition/math/DiffDriveOdometry.hh>
-#include <ignition/math/Angle.hh>
-#include <ignition/math/Export.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/DiffDriveOdometry.hh>
+#include <gz/math/Angle.hh>
+#include <gz/math/Export.hh>
+#include <gz/math/config.hh>
 %}
 
 %include "typemaps.i"
diff --git a/src/ruby/Filter.i b/src/ruby/Filter.i
index be9e70562..dfcef607e 100644
--- a/src/ruby/Filter.i
+++ b/src/ruby/Filter.i
@@ -17,11 +17,11 @@
 
 %module filter
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Filter.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Filter.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %import Quaternion.i
diff --git a/src/ruby/Frustum.i b/src/ruby/Frustum.i
index f53f1456e..76de59152 100644
--- a/src/ruby/Frustum.i
+++ b/src/ruby/Frustum.i
@@ -17,12 +17,12 @@
 
 %module frustum
 %{
-#include <ignition/math/Frustum.hh>
-#include <ignition/math/Angle.hh>
-#include <ignition/math/AxisAlignedBox.hh>
-#include <ignition/math/Plane.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/Frustum.hh>
+#include <gz/math/Angle.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/config.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/GaussMarkovProcess.i b/src/ruby/GaussMarkovProcess.i
index d70bb0836..412840e3e 100644
--- a/src/ruby/GaussMarkovProcess.i
+++ b/src/ruby/GaussMarkovProcess.i
@@ -17,7 +17,7 @@
 
 %module gaussMarkovProcess
 %{
-#include <ignition/math/GaussMarkovProcess.hh>
+#include <gz/math/GaussMarkovProcess.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Helpers.i b/src/ruby/Helpers.i
index 408cb549c..97f8d88f0 100644
--- a/src/ruby/Helpers.i
+++ b/src/ruby/Helpers.i
@@ -17,7 +17,7 @@
 
 %module helpers
 %{
-#include <ignition/math/Helpers.hh>
+#include <gz/math/Helpers.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Inertial.i b/src/ruby/Inertial.i
index 7c9a4c054..630408d36 100644
--- a/src/ruby/Inertial.i
+++ b/src/ruby/Inertial.i
@@ -17,10 +17,10 @@
 
 %module inertial
 %{
-#include <ignition/math/Inertial.hh>
-#include <ignition/math/config.hh>
-#include "ignition/math/MassMatrix3.hh"
-#include "ignition/math/Pose3.hh"
+#include <gz/math/Inertial.hh>
+#include <gz/math/config.hh>
+#include "gz/math/MassMatrix3.hh"
+#include "gz/math/Pose3.hh"
 %}
 
 namespace ignition
diff --git a/src/ruby/Kmeans.i b/src/ruby/Kmeans.i
index c1c26ac10..5c7fd2ca8 100644
--- a/src/ruby/Kmeans.i
+++ b/src/ruby/Kmeans.i
@@ -17,9 +17,9 @@
 
 %module kmeans
 %{
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Kmeans.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Kmeans.hh>
 %}
 
 %include "std_vector.i"
diff --git a/src/ruby/Line2.i b/src/ruby/Line2.i
index cc53a90bc..8ac12703a 100644
--- a/src/ruby/Line2.i
+++ b/src/ruby/Line2.i
@@ -18,9 +18,9 @@
 %module line2
 %{
 #include <sstream>
-#include <ignition/math/Line2.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector2.hh>
+#include <gz/math/Line2.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector2.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Line3.i b/src/ruby/Line3.i
index bfe36940d..0a5b8b6c3 100644
--- a/src/ruby/Line3.i
+++ b/src/ruby/Line3.i
@@ -18,9 +18,9 @@
 %module line3
 %{
 #include <sstream>
-#include <ignition/math/Line3.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Line3.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/MassMatrix3.i b/src/ruby/MassMatrix3.i
index 6fea9dd2c..1727e525d 100644
--- a/src/ruby/MassMatrix3.i
+++ b/src/ruby/MassMatrix3.i
@@ -17,14 +17,14 @@
 
 %module massmatrix3
 %{
-#include "ignition/math/MassMatrix3.hh"
+#include "gz/math/MassMatrix3.hh"
 
-#include "ignition/math/Helpers.hh"
-#include "ignition/math/Material.hh"
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/Vector2.hh"
-#include "ignition/math/Vector3.hh"
-#include "ignition/math/Matrix3.hh"
+#include "gz/math/Helpers.hh"
+#include "gz/math/Material.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/Vector2.hh"
+#include "gz/math/Vector3.hh"
+#include "gz/math/Matrix3.hh"
 %}
 
 namespace ignition
diff --git a/src/ruby/Material.i b/src/ruby/Material.i
index 74669b44e..80f08fcdf 100644
--- a/src/ruby/Material.i
+++ b/src/ruby/Material.i
@@ -17,10 +17,10 @@
 
 %module material
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Export.hh>
-#include <ignition/math/Material.hh>
-#include <ignition/math/MaterialType.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Export.hh>
+#include <gz/math/Material.hh>
+#include <gz/math/MaterialType.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/MaterialType.i b/src/ruby/MaterialType.i
index 45864fc13..f7a10ccac 100644
--- a/src/ruby/MaterialType.i
+++ b/src/ruby/MaterialType.i
@@ -17,9 +17,9 @@
 
 %module materialtype
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Export.hh>
-#include <ignition/math/MaterialType.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Export.hh>
+#include <gz/math/MaterialType.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Matrix3.i b/src/ruby/Matrix3.i
index 41ecc947e..e7a98abe4 100644
--- a/src/ruby/Matrix3.i
+++ b/src/ruby/Matrix3.i
@@ -17,11 +17,11 @@
 
 %module matrix3
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Matrix3.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Matrix3.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Matrix4.i b/src/ruby/Matrix4.i
index 35f93b2e6..3a6238ef6 100644
--- a/src/ruby/Matrix4.i
+++ b/src/ruby/Matrix4.i
@@ -17,12 +17,12 @@
 
 %module matrix4
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Matrix3.hh>
-#include <ignition/math/Matrix4.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Matrix3.hh>
+#include <gz/math/Matrix4.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/MovingWindowFilter.i b/src/ruby/MovingWindowFilter.i
index ea6fc003d..bd9f26428 100644
--- a/src/ruby/MovingWindowFilter.i
+++ b/src/ruby/MovingWindowFilter.i
@@ -16,8 +16,8 @@
 */
 %module movingwindowfilter
 %{
-#include "ignition/math/MovingWindowFilter.hh"
-#include "ignition/math/Vector3.hh"
+#include "gz/math/MovingWindowFilter.hh"
+#include "gz/math/Vector3.hh"
 %}
 
 namespace ignition
diff --git a/src/ruby/OrientedBox.i b/src/ruby/OrientedBox.i
index ca32b3121..6c6ee9587 100644
--- a/src/ruby/OrientedBox.i
+++ b/src/ruby/OrientedBox.i
@@ -18,14 +18,14 @@
 %module orientedbox
 %{
 #include <iostream>
-#include <ignition/math/OrientedBox.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/MassMatrix3.hh>
-#include <ignition/math/Material.hh>
-#include <ignition/math/Matrix4.hh>
-#include <ignition/math/Pose3.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/OrientedBox.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/MassMatrix3.hh>
+#include <gz/math/Material.hh>
+#include <gz/math/Matrix4.hh>
+#include <gz/math/Pose3.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/config.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/PID.i b/src/ruby/PID.i
index 452e73045..7861cfcc2 100644
--- a/src/ruby/PID.i
+++ b/src/ruby/PID.i
@@ -16,7 +16,7 @@
 */
 %module pid 
 %{
-	#include <ignition/math/PID.hh>
+	#include <gz/math/PID.hh>
 %}
 
 %include "typemaps.i"
diff --git a/src/ruby/Plane.i b/src/ruby/Plane.i
index 0c35aa481..892e3fe91 100644
--- a/src/ruby/Plane.i
+++ b/src/ruby/Plane.i
@@ -17,13 +17,13 @@
 
 %module plane
 %{
-#include <ignition/math/Plane.hh>
-#include <ignition/math/AxisAlignedBox.hh>
-#include <ignition/math/Vector2.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/Line2.hh>
-#include <ignition/math/Quaternion.hh>
+#include <gz/math/Plane.hh>
+#include <gz/math/AxisAlignedBox.hh>
+#include <gz/math/Vector2.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Line2.hh>
+#include <gz/math/Quaternion.hh>
 #include <optional>
 %}
 
diff --git a/src/ruby/Pose3.i b/src/ruby/Pose3.i
index 554926704..8d3407b01 100644
--- a/src/ruby/Pose3.i
+++ b/src/ruby/Pose3.i
@@ -17,10 +17,10 @@
 
 %module quaternion
 %{
-  #include <ignition/math/config.hh>
-  #include <ignition/math/Pose3.hh>
-  #include <ignition/math/Quaternion.hh>
-  #include <ignition/math/Vector3.hh>
+  #include <gz/math/config.hh>
+  #include <gz/math/Pose3.hh>
+  #include <gz/math/Quaternion.hh>
+  #include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Quaternion.i b/src/ruby/Quaternion.i
index 7cc6eba07..a7d4a1612 100644
--- a/src/ruby/Quaternion.i
+++ b/src/ruby/Quaternion.i
@@ -17,10 +17,10 @@
 
 %module quaternion
 %{
-#include <ignition/math/Angle.hh>
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Angle.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Rand.i b/src/ruby/Rand.i
index 0e7aa25cf..3ef19f5a7 100644
--- a/src/ruby/Rand.i
+++ b/src/ruby/Rand.i
@@ -17,7 +17,7 @@
 
 %module rand
 %{
-#include <ignition/math/Rand.hh>
+#include <gz/math/Rand.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/RollingMean.i b/src/ruby/RollingMean.i
index be96792d4..0788de76c 100644
--- a/src/ruby/RollingMean.i
+++ b/src/ruby/RollingMean.i
@@ -17,7 +17,7 @@
 
 %module rollingMean
 %{
-#include <ignition/math/RollingMean.hh>
+#include <gz/math/RollingMean.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/RotationSpline.i b/src/ruby/RotationSpline.i
index 7f62e815d..8af437de5 100644
--- a/src/ruby/RotationSpline.i
+++ b/src/ruby/RotationSpline.i
@@ -17,9 +17,9 @@
 
 %module rotationspline
 %{
-#include <ignition/math/RotationSpline.hh>
-#include <ignition/math/Quaternion.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/RotationSpline.hh>
+#include <gz/math/Quaternion.hh>
+#include <gz/math/config.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/SemanticVersion.i b/src/ruby/SemanticVersion.i
index 3ea5de1a6..b63b84e0d 100644
--- a/src/ruby/SemanticVersion.i
+++ b/src/ruby/SemanticVersion.i
@@ -18,7 +18,7 @@
 %module semanticversion
 %{
   #include <sstream>
-	#include <ignition/math/SemanticVersion.hh>
+	#include <gz/math/SemanticVersion.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/SignalStats.i b/src/ruby/SignalStats.i
index b918d3f35..406f922f8 100644
--- a/src/ruby/SignalStats.i
+++ b/src/ruby/SignalStats.i
@@ -18,7 +18,7 @@
 %module signalStats
 
 %{
-#include <ignition/math/SignalStats.hh>
+#include <gz/math/SignalStats.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Sphere.i b/src/ruby/Sphere.i
index c2fa4b1a4..3c67ab3d5 100644
--- a/src/ruby/Sphere.i
+++ b/src/ruby/Sphere.i
@@ -17,11 +17,11 @@
 
 %module sphere
 %{
-#include "ignition/math/Sphere.hh"
-#include "ignition/math/MassMatrix3.hh"
-#include "ignition/math/Material.hh"
-#include "ignition/math/Quaternion.hh"
-#include "ignition/math/Plane.hh"
+#include "gz/math/Sphere.hh"
+#include "gz/math/MassMatrix3.hh"
+#include "gz/math/Material.hh"
+#include "gz/math/Quaternion.hh"
+#include "gz/math/Plane.hh"
 %}
 
 %include "typemaps.i"
diff --git a/src/ruby/SphericalCoordinates.i b/src/ruby/SphericalCoordinates.i
index 6b006f173..ce98ad306 100644
--- a/src/ruby/SphericalCoordinates.i
+++ b/src/ruby/SphericalCoordinates.i
@@ -20,10 +20,10 @@
 #include <memory>
 #include <string>
 
-#include <ignition/math/SphericalCoordinates.hh>
-#include <ignition/math/Angle.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/config.hh>
+#include <gz/math/SphericalCoordinates.hh>
+#include <gz/math/Angle.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/config.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Spline.i b/src/ruby/Spline.i
index cf086a577..f68c181ae 100644
--- a/src/ruby/Spline.i
+++ b/src/ruby/Spline.i
@@ -17,10 +17,10 @@
 
 %module spline
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Spline.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Spline.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/StopWatch.i b/src/ruby/StopWatch.i
index 161bb6105..7a640767d 100644
--- a/src/ruby/StopWatch.i
+++ b/src/ruby/StopWatch.i
@@ -19,9 +19,9 @@
 %{
 #include <chrono>
 #include <memory>
-#include "ignition/math/Stopwatch.hh"
-#include <ignition/math/Export.hh>
-#include <ignition/math/config.hh>
+#include "gz/math/Stopwatch.hh"
+#include <gz/math/Export.hh>
+#include <gz/math/config.hh>
 %}
 
 %include "typemaps.i"
diff --git a/src/ruby/Temperature.i b/src/ruby/Temperature.i
index 2411ba085..dcaa13c65 100644
--- a/src/ruby/Temperature.i
+++ b/src/ruby/Temperature.i
@@ -18,7 +18,7 @@
 %module temperature
 %{
 #include <sstream>
-#include <ignition/math/Temperature.hh>
+#include <gz/math/Temperature.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Triangle.i b/src/ruby/Triangle.i
index 08c5f5370..966b29e7e 100644
--- a/src/ruby/Triangle.i
+++ b/src/ruby/Triangle.i
@@ -17,12 +17,12 @@
 
 %module triangle
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Line2.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Line2.hh>
 #include <set>
-#include <ignition/math/Triangle.hh>
-#include <ignition/math/Vector2.hh>
+#include <gz/math/Triangle.hh>
+#include <gz/math/Vector2.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Triangle3.i b/src/ruby/Triangle3.i
index 78c20e10b..2ad52da92 100644
--- a/src/ruby/Triangle3.i
+++ b/src/ruby/Triangle3.i
@@ -17,12 +17,12 @@
 
 %module triangle3
 %{
-#include <ignition/math/config.hh>
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/Line3.hh>
+#include <gz/math/config.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/Line3.hh>
 #include <set>
-#include <ignition/math/Triangle3.hh>
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Triangle3.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Vector2.i b/src/ruby/Vector2.i
index 180b1b278..e37b1083a 100644
--- a/src/ruby/Vector2.i
+++ b/src/ruby/Vector2.i
@@ -23,7 +23,7 @@
 
 %module vector2
 %{
-#include <ignition/math/Vector2.hh>
+#include <gz/math/Vector2.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Vector3.i b/src/ruby/Vector3.i
index 62264bdfd..8870d5612 100644
--- a/src/ruby/Vector3.i
+++ b/src/ruby/Vector3.i
@@ -23,7 +23,7 @@
 
 %module vector3
 %{
-#include <ignition/math/Vector3.hh>
+#include <gz/math/Vector3.hh>
 %}
 
 namespace ignition
diff --git a/src/ruby/Vector3Stats.i b/src/ruby/Vector3Stats.i
index 460733282..ba0060cb4 100644
--- a/src/ruby/Vector3Stats.i
+++ b/src/ruby/Vector3Stats.i
@@ -17,10 +17,10 @@
 
 %module vector3stats
 %{
-#include <ignition/math/Helpers.hh>
-#include <ignition/math/SignalStats.hh>
-#include <ignition/math/Vector3.hh>
-#include <ignition/math/Vector3Stats.hh>
+#include <gz/math/Helpers.hh>
+#include <gz/math/SignalStats.hh>
+#include <gz/math/Vector3.hh>
+#include <gz/math/Vector3Stats.hh>
 %}
 
 %include "std_string.i"
diff --git a/src/ruby/Vector4.i b/src/ruby/Vector4.i
index 7fbaf1e45..1cd8f0287 100644
--- a/src/ruby/Vector4.i
+++ b/src/ruby/Vector4.i
@@ -23,7 +23,7 @@
 
 %module vector4
 %{
-#include <ignition/math/Vector4.hh>
+#include <gz/math/Vector4.hh>
 %}
 
 namespace ignition
diff --git a/tutorials/cppgetstarted.md b/tutorials/cppgetstarted.md
index cffc8fe62..c9f1fed20 100644
--- a/tutorials/cppgetstarted.md
+++ b/tutorials/cppgetstarted.md
@@ -24,7 +24,7 @@ For this example, we'll take the short and easy approach.
 At this point your main file should look like
 
 ```{.cpp}
-#include <ignition/math.hh>
+#include <gz/math.hh>
 
 int main()
 {
@@ -38,7 +38,7 @@ ignition::math::Vector3d type which is a typedef of `Vector3<double>`. The resul
 addition will be a main file similar to the following.
 
 ```{.cpp}
-#include <ignition/math.hh>
+#include <gz/math.hh>
 
 int main()
 {
@@ -53,7 +53,7 @@ Finally, we can compute the distance between `point1` and `point2` using the
 ignition::math::Vector3::Distance() function and output the distance value.
 
 ```{.cpp}
-#include <ignition/math.hh>
+#include <gz/math.hh>
 
 int main()
 {