diff --git a/.cproject b/.cproject
index 9e76907be..16a296ee0 100644
--- a/.cproject
+++ b/.cproject
@@ -34,7 +34,9 @@
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.archiver.macosx.base.217086069" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.1629258328" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base">
-								<option id="gnu.cpp.compiler.option.include.paths.1552452888" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths"/>
+								<option id="gnu.cpp.compiler.option.include.paths.1552452888" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/gtsam}&quot;"/>
+								</option>
 								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.1833545667" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
 							</tool>
 							<tool id="cdt.managedbuild.tool.gnu.c.compiler.macosx.base.1347102680" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.macosx.base">
@@ -47,255 +49,6 @@
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 			<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
 			<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-			<storageModule moduleId="scannerConfiguration">
-				<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
-				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="makefileGenerator">
-						<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.1629258328;cdt.managedbuild.tool.gnu.cpp.compiler.input.1833545667">
-					<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="makefileGenerator">
-							<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-				</scannerConfigBuildInfo>
-				<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.c.compiler.macosx.base.1347102680;cdt.managedbuild.tool.gnu.c.compiler.input.1718446861">
-					<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="makefileGenerator">
-							<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-				</scannerConfigBuildInfo>
-			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 				<buildTargets>
 					<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
@@ -1874,255 +1627,6 @@
 			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
 			<storageModule moduleId="org.eclipse.cdt.core.language.mapping"/>
 			<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
-			<storageModule moduleId="scannerConfiguration">
-				<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
-				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="makefileGenerator">
-						<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-					<buildOutputProvider>
-						<openAction enabled="true" filePath=""/>
-						<parser enabled="true"/>
-					</buildOutputProvider>
-					<scannerInfoProvider id="specsFile">
-						<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-						<parser enabled="true"/>
-					</scannerInfoProvider>
-				</profile>
-				<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.1629258328;cdt.managedbuild.tool.gnu.cpp.compiler.input.1833545667">
-					<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="makefileGenerator">
-							<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-				</scannerConfigBuildInfo>
-				<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.c.compiler.macosx.base.1347102680;cdt.managedbuild.tool.gnu.c.compiler.input.1718446861">
-					<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="makefileGenerator">
-							<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-					<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-						<buildOutputProvider>
-							<openAction enabled="true" filePath=""/>
-							<parser enabled="true"/>
-						</buildOutputProvider>
-						<scannerInfoProvider id="specsFile">
-							<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
-							<parser enabled="true"/>
-						</scannerInfoProvider>
-					</profile>
-				</scannerConfigBuildInfo>
-			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 				<buildTargets>
 					<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
@@ -3661,4 +3165,254 @@
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="gtsam.null.1344331286" name="gtsam"/>
 	</storageModule>
+	<storageModule moduleId="refreshScope"/>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
+		<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="makefileGenerator">
+				<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
+			<buildOutputProvider>
+				<openAction enabled="true" filePath=""/>
+				<parser enabled="true"/>
+			</buildOutputProvider>
+			<scannerInfoProvider id="specsFile">
+				<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+				<parser enabled="true"/>
+			</scannerInfoProvider>
+		</profile>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.cpp.compiler.macosx.base.1629258328;cdt.managedbuild.tool.gnu.cpp.compiler.input.1833545667">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP"/>
+			<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="makefileGenerator">
+					<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544;cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194;cdt.managedbuild.tool.gnu.c.compiler.macosx.base.1347102680;cdt.managedbuild.tool.gnu.c.compiler.input.1718446861">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC"/>
+			<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerFileProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="makefileGenerator">
+					<runAction arguments="-f ${project_name}_scd.mk" command="make" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileCPP">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCManagedMakePerProjectProfileC">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/${specs_file}" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.cpp" command="g++" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
+				<buildOutputProvider>
+					<openAction enabled="true" filePath=""/>
+					<parser enabled="true"/>
+				</buildOutputProvider>
+				<scannerInfoProvider id="specsFile">
+					<runAction arguments="-E -P -v -dD ${plugin_state_location}/specs.c" command="gcc" useDefault="true"/>
+					<parser enabled="true"/>
+				</scannerInfoProvider>
+			</profile>
+		</scannerConfigBuildInfo>
+	</storageModule>
 </cproject>