diff --git a/.cproject b/.cproject
index 575aece52..f2cb2c0fa 100644
--- a/.cproject
+++ b/.cproject
@@ -302,6 +302,7 @@
 				<buildTargets>
 					<target name="all" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -309,6 +310,7 @@
 					</target>
 					<target name="clean" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -316,6 +318,7 @@
 					</target>
 					<target name="check" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -323,6 +326,7 @@
 					</target>
 					<target name="testGaussianConditional.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianConditional.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -330,6 +334,7 @@
 					</target>
 					<target name="testGaussianFactor.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -337,6 +342,7 @@
 					</target>
 					<target name="timeGaussianFactor.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -344,6 +350,7 @@
 					</target>
 					<target name="timeVectorConfig.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeVectorConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -351,6 +358,7 @@
 					</target>
 					<target name="testVectorBTree.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testVectorBTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -358,6 +366,7 @@
 					</target>
 					<target name="testVectorMap.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testVectorMap.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -365,6 +374,7 @@
 					</target>
 					<target name="testNoiseModel.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testNoiseModel.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -372,6 +382,7 @@
 					</target>
 					<target name="testBayesNetPreconditioner.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBayesNetPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -379,6 +390,7 @@
 					</target>
 					<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testErrors.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -386,7 +398,6 @@
 					</target>
 					<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -394,7 +405,6 @@
 					</target>
 					<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -402,6 +412,7 @@
 					</target>
 					<target name="check" path="build/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -409,6 +420,7 @@
 					</target>
 					<target name="tests/testGaussianJunctionTree.run" path="build/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testGaussianJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -416,7 +428,6 @@
 					</target>
 					<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -424,7 +435,6 @@
 					</target>
 					<target name="clean" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -432,7 +442,6 @@
 					</target>
 					<target name="testBTree.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testBTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -440,7 +449,6 @@
 					</target>
 					<target name="testDSF.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testDSF.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -448,7 +456,6 @@
 					</target>
 					<target name="testDSFVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testDSFVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -456,7 +463,6 @@
 					</target>
 					<target name="testMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -464,7 +470,6 @@
 					</target>
 					<target name="testSPQRUtil.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -472,7 +477,6 @@
 					</target>
 					<target name="testVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -480,7 +484,6 @@
 					</target>
 					<target name="timeMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>timeMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -488,7 +491,6 @@
 					</target>
 					<target name="all" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -496,6 +498,7 @@
 					</target>
 					<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -503,6 +506,7 @@
 					</target>
 					<target name="clean" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -518,6 +522,7 @@
 					</target>
 					<target name="testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBayesTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -525,6 +530,7 @@
 					</target>
 					<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBinaryBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -532,6 +538,7 @@
 					</target>
 					<target name="testFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -539,6 +546,7 @@
 					</target>
 					<target name="testISAM.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -546,6 +554,7 @@
 					</target>
 					<target name="testJunctionTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -553,6 +562,7 @@
 					</target>
 					<target name="testKey.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testKey.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -560,6 +570,7 @@
 					</target>
 					<target name="testOrdering.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testOrdering.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -567,6 +578,7 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -574,6 +586,7 @@
 					</target>
 					<target name="testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -581,6 +594,7 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -588,6 +602,7 @@
 					</target>
 					<target name="timeSymbolMaps.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeSymbolMaps.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -595,6 +610,7 @@
 					</target>
 					<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -602,6 +618,7 @@
 					</target>
 					<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testClusterTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -609,6 +626,7 @@
 					</target>
 					<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -616,6 +634,7 @@
 					</target>
 					<target name="testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testEliminationTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -623,7 +642,6 @@
 					</target>
 					<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -631,7 +649,6 @@
 					</target>
 					<target name="testGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -639,7 +656,6 @@
 					</target>
 					<target name="testGaussianISAM.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -647,7 +663,6 @@
 					</target>
 					<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianISAM2.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -655,7 +670,6 @@
 					</target>
 					<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -663,7 +677,6 @@
 					</target>
 					<target name="testIterative.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testIterative.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -671,7 +684,6 @@
 					</target>
 					<target name="testNonlinearEquality.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearEquality.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -679,7 +691,6 @@
 					</target>
 					<target name="testNonlinearFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -687,7 +698,6 @@
 					</target>
 					<target name="testNonlinearFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -695,7 +705,6 @@
 					</target>
 					<target name="testNonlinearOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -703,7 +712,6 @@
 					</target>
 					<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSQP.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -711,7 +719,6 @@
 					</target>
 					<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSubgraphPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -719,7 +726,6 @@
 					</target>
 					<target name="testTupleConfig.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testTupleConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -727,7 +733,6 @@
 					</target>
 					<target name="timeGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>timeGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -735,7 +740,6 @@
 					</target>
 					<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testBayesNetPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -743,7 +747,6 @@
 					</target>
 					<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testConstraintOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -751,7 +754,6 @@
 					</target>
 					<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testInference.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -759,7 +761,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -767,7 +768,6 @@
 					</target>
 					<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -775,7 +775,6 @@
 					</target>
 					<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -783,7 +782,6 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -791,7 +789,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -799,6 +796,7 @@
 					</target>
 					<target name="clean" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -806,6 +804,7 @@
 					</target>
 					<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -813,6 +812,7 @@
 					</target>
 					<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testNonlinearConstraint.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -820,6 +820,7 @@
 					</target>
 					<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testLieConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -827,6 +828,7 @@
 					</target>
 					<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testConstraintOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -834,6 +836,7 @@
 					</target>
 					<target name="install" path="CCOLAMD" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>install</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -841,6 +844,7 @@
 					</target>
 					<target name="clean" path="CCOLAMD" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -848,7 +852,6 @@
 					</target>
 					<target name="all" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -856,7 +859,6 @@
 					</target>
 					<target name="clean" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -864,7 +866,6 @@
 					</target>
 					<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -872,7 +873,6 @@
 					</target>
 					<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -880,7 +880,6 @@
 					</target>
 					<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -888,7 +887,6 @@
 					</target>
 					<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -896,6 +894,7 @@
 					</target>
 					<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -903,6 +902,7 @@
 					</target>
 					<target name="clean" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -910,7 +910,6 @@
 					</target>
 					<target name="rebuild" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -918,7 +917,6 @@
 					</target>
 					<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -926,7 +924,6 @@
 					</target>
 					<target name="check" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -934,7 +931,6 @@
 					</target>
 					<target name="clean" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -942,7 +938,6 @@
 					</target>
 					<target name="testPlanarSLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPlanarSLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -950,7 +945,6 @@
 					</target>
 					<target name="testPose2Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -958,7 +952,6 @@
 					</target>
 					<target name="testPose2Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -966,7 +959,6 @@
 					</target>
 					<target name="testPose2Prior.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Prior.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -974,7 +966,6 @@
 					</target>
 					<target name="testPose2SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -982,7 +973,6 @@
 					</target>
 					<target name="testPose3Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -990,7 +980,6 @@
 					</target>
 					<target name="testPose3SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -998,7 +987,6 @@
 					</target>
 					<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2DOriented.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1006,7 +994,6 @@
 					</target>
 					<target name="testVSLAMConfig.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1014,7 +1001,6 @@
 					</target>
 					<target name="testVSLAMFactor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1022,7 +1008,6 @@
 					</target>
 					<target name="testVSLAMGraph.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1030,7 +1015,6 @@
 					</target>
 					<target name="testPose3Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1038,7 +1022,6 @@
 					</target>
 					<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1046,7 +1029,6 @@
 					</target>
 					<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated3D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1054,7 +1036,6 @@
 					</target>
 					<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1062,15 +1043,6 @@
 					</target>
 					<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1094,11 +1066,103 @@
 					</target>
 					<target name="clean" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testRot3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testRot2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPose3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>timeRot3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPose2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testCal3_S2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testSimpleCamera.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testHomography2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testCalibratedCamera.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>clean</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPoint2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1125,7 +1189,6 @@
 					</target>
 					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1133,110 +1196,14 @@
 					</target>
 					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>dist</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testRot3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testRot2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPose3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>timeRot3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPose2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testCal3_S2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testSimpleCamera.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testHomography2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testCalibratedCamera.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>clean</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPoint2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1244,6 +1211,7 @@
 					</target>
 					<target name="testGaussianJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1251,13 +1219,23 @@
 					</target>
 					<target name="testGaussianFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="timeGaussianFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments/>
+						<buildTarget>timeGaussianFactorGraph.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1265,6 +1243,7 @@
 					</target>
 					<target name="clean" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1272,6 +1251,7 @@
 					</target>
 					<target name="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>install</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1279,6 +1259,7 @@
 					</target>
 					<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
diff --git a/inference/Key.h b/inference/Key.h
index c2fac37a1..927211831 100644
--- a/inference/Key.h
+++ b/inference/Key.h
@@ -198,10 +198,12 @@ namespace gtsam {
 
 	public:
 
+		typedef TypedSymbol<T, C> Base;
+
 		// Constructors:
 
 		TypedLabeledSymbol() {}
-		TypedLabeledSymbol(size_t j, L label):TypedSymbol<T,C>(j), label_(label) {}
+		TypedLabeledSymbol(size_t j, L label) : Base(j), label_(label) {}
 
 		/** Constructor that decodes encoded labels */
 		TypedLabeledSymbol(const Symbol& sym) : TypedSymbol<T,C>(0) {
@@ -210,6 +212,9 @@ namespace gtsam {
 			label_ = (L) (sym.index() >> shift); // remove lower bits
 		}
 
+		/** Constructor to upgrade an existing typed label with a label */
+		TypedLabeledSymbol(const Base& key, L label) : Base(key.index()), label_(label) {}
+
 		// Get stuff:
 
 		L label() const { return label_;}
diff --git a/inference/tests/testKey.cpp b/inference/tests/testKey.cpp
index c29711b44..87ddad611 100644
--- a/inference/tests/testKey.cpp
+++ b/inference/tests/testKey.cpp
@@ -33,14 +33,19 @@ TEST ( TypedSymbol, basic_operations ) {
 
 /* ************************************************************************* */
 TEST ( TypedLabledSymbol, basic_operations ) {
+	typedef TypedSymbol<Pose3, 'x'> SimpleKey;
 	typedef TypedLabeledSymbol<Pose3, 'x', int> RobotKey;
 
+	SimpleKey key7(1);
 	RobotKey key1(0, 1),
 			 key2(0, 1),
 			 key3(1, 1),
 			 key4(2, 1),
 			 key5(0, 2),
-			 key6(1, 2);
+			 key6(1, 2),
+			 key8(1, 3),
+			 key9(key7, 3);
+
 
 	CHECK(key1.label()==1);
 	CHECK(key1.index()==0);
@@ -52,6 +57,7 @@ TEST ( TypedLabledSymbol, basic_operations ) {
 	CHECK(!(key1 == key5));
 	CHECK(key1 < key5);
 	CHECK(key5 < key6);
+	CHECK(assert_equal(key9, key8));
 }
 
 /* ************************************************************************* */
@@ -82,48 +88,6 @@ TEST ( TypedLabledSymbol, encoding ) {
 	CHECK(assert_equal(key1, RobotKey(act1)));
 }
 
-/* ************************************************************************* *
-TEST ( TypedLabledSymbol, symbol_translation ) {
-	typedef TypedLabeledSymbol<Pose3, 'x', char> Key;
-
-	Key key1(0, 'A'),
-		key2(1, 'A'),
-		key3(0, 'B'),
-		key4(1, 'B');
-
-	LabeledSymbol act1(key1), act2(key2), act3(key3), act4(key4);
-	LabeledSymbol exp1('x', 0, 'A'),
-				  exp2('x', 1, 'A'),
-				  exp3('x', 0, 'B'),
-				  exp4('x', 1, 'B');
-	CHECK(assert_equal(exp1, act1));
-	CHECK(assert_equal(exp2, act2));
-	CHECK(assert_equal(exp3, act3));
-	CHECK(assert_equal(exp4, act4));
-
-}
-
-/* ************************************************************************* *
-TEST ( TypedLabledSymbol, symbol_comparison ) {
-	typedef TypedLabeledSymbol<Pose3, 'x', char> Key1;
-	typedef TypedSymbol<Pose3, 'x'> Key2;
-
-	Key1 key1(0, 'A'),
-		 key2(1, 'A'),
-		 key3(0, 'B'),
-		 key4(1, 'B');
-	Key2 key5(0), key6(1);
-
-	LabeledSymbol act1(key1), act2(key2), act3(key3), act4(key4);
-
-	CHECK(act1 != act2);
-	CHECK(act1 != act3);
-	CHECK(act1 != act4);
-	CHECK(act1 == act1);
-	CHECK(act1 < act2);
-	CHECK(act1 < act3);
-}
-
 /* ************************************************************************* */
 TEST ( Key, keys2symbols )
 {