diff --git a/src/xrt/auxiliary/math/m_base.cpp b/src/xrt/auxiliary/math/m_base.cpp
index e75fc35ff..0f22621a6 100644
--- a/src/xrt/auxiliary/math/m_base.cpp
+++ b/src/xrt/auxiliary/math/m_base.cpp
@@ -17,6 +17,7 @@
 
 #include <assert.h>
 
+using namespace xrt::auxiliary::math;
 
 /*
  *
diff --git a/src/xrt/auxiliary/math/m_documentation.hpp b/src/xrt/auxiliary/math/m_documentation.hpp
new file mode 100644
index 000000000..3f839e84e
--- /dev/null
+++ b/src/xrt/auxiliary/math/m_documentation.hpp
@@ -0,0 +1,18 @@
+// Copyright 2021, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief  Header with just documentation.
+ * @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ * @ingroup aux_math
+ */
+
+#pragma once
+
+
+namespace xrt::auxiliary {
+//! C++-only functionality in the Math helper library
+namespace math {
+
+} // namespace math
+} // namespace xrt::auxiliary
diff --git a/src/xrt/auxiliary/math/m_eigen_interop.hpp b/src/xrt/auxiliary/math/m_eigen_interop.hpp
index ed54d5435..3a8040f6f 100644
--- a/src/xrt/auxiliary/math/m_eigen_interop.hpp
+++ b/src/xrt/auxiliary/math/m_eigen_interop.hpp
@@ -1,4 +1,4 @@
-// Copyright 2019, Collabora, Ltd.
+// Copyright 2019-2021, Collabora, Ltd.
 // SPDX-License-Identifier: BSL-1.0
 /*!
  * @file
@@ -18,6 +18,7 @@
 #include <Eigen/Core>
 #include <Eigen/Geometry>
 
+namespace xrt::auxiliary::math {
 
 /*!
  * @brief Wrap an internal quaternion struct in an Eigen type, const overload.
@@ -124,3 +125,5 @@ position(struct xrt_pose &pose)
 {
 	return map_vec3(pose.position);
 }
+
+} // namespace xrt::auxiliary::math
diff --git a/src/xrt/auxiliary/math/m_quatexpmap.cpp b/src/xrt/auxiliary/math/m_quatexpmap.cpp
index f5d0dd99e..725bd9a44 100644
--- a/src/xrt/auxiliary/math/m_quatexpmap.cpp
+++ b/src/xrt/auxiliary/math/m_quatexpmap.cpp
@@ -130,6 +130,8 @@ quat_ln(Eigen::Quaternion<Scalar> const &quat)
 
 } // namespace
 
+using namespace xrt::auxiliary::math;
+
 extern "C" void
 math_quat_integrate_velocity(const struct xrt_quat *quat,
                              const struct xrt_vec3 *ang_vel,
diff --git a/src/xrt/auxiliary/tracking/t_imu.cpp b/src/xrt/auxiliary/tracking/t_imu.cpp
index 97da7147f..ebb586e11 100644
--- a/src/xrt/auxiliary/tracking/t_imu.cpp
+++ b/src/xrt/auxiliary/tracking/t_imu.cpp
@@ -17,6 +17,7 @@
 #include <memory>
 
 using xrt::auxiliary::tracking::SimpleIMUFusion;
+using namespace xrt::auxiliary::math;
 
 struct imu_fusion
 {
diff --git a/src/xrt/auxiliary/tracking/t_tracker_psmv_fusion.cpp b/src/xrt/auxiliary/tracking/t_tracker_psmv_fusion.cpp
index f09e1e243..0e45869f5 100644
--- a/src/xrt/auxiliary/tracking/t_tracker_psmv_fusion.cpp
+++ b/src/xrt/auxiliary/tracking/t_tracker_psmv_fusion.cpp
@@ -30,6 +30,8 @@
 
 namespace xrt::auxiliary::tracking {
 
+using namespace xrt::auxiliary::math;
+
 //! Anonymous namespace to hide implementation names
 namespace {