diff --git a/.cproject b/.cproject
index b075667ed..1f29f86b7 100644
--- a/.cproject
+++ b/.cproject
@@ -1653,10 +1653,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="PlanarSLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="PlanarSLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>PlanarSLAMExample_easy.run</buildTarget>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>PlanarSLAMExample.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1685,10 +1685,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="PlanarSLAMSelfContained_advanced.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="PlanarSLAMExample_selfcontained.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>PlanarSLAMSelfContained_advanced.run</buildTarget>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>PlanarSLAMExample_selfcontained.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1701,18 +1701,18 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="Pose2SLAMExample_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="Pose2SLAMExample.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>Pose2SLAMExample_easy.run</buildTarget>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>Pose2SLAMExample.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="Pose2SLAMwSPCG_easy.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="Pose2SLAMwSPCG.run" path="build/examples" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>Pose2SLAMwSPCG_easy.run</buildTarget>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>Pose2SLAMwSPCG.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
diff --git a/examples/PlanarSLAMSelfContained_advanced.cpp b/examples/PlanarSLAMExample_selfcontained.cpp
similarity index 99%
rename from examples/PlanarSLAMSelfContained_advanced.cpp
rename to examples/PlanarSLAMExample_selfcontained.cpp
index f7c321f2d..7e17c2a0e 100644
--- a/examples/PlanarSLAMSelfContained_advanced.cpp
+++ b/examples/PlanarSLAMExample_selfcontained.cpp
@@ -10,7 +10,7 @@
  * -------------------------------------------------------------------------- */
 
 /**
- * @file PlanarSLAMSelfContained_advanced.cpp
+ * @file PlanarSLAMExample_selfcontained.cpp
  * @brief Simple robotics example with all typedefs internal to this script.
  * @author Alex Cunningham
  */
diff --git a/examples/README b/examples/README
index 8558ea62d..2a54459f3 100644
--- a/examples/README
+++ b/examples/README
@@ -20,7 +20,7 @@ Pose2SLAMwSPCG: solve a simple 3 by 3 grid of Pose2 SLAM problem by using easy S
 Planar SLAM with landmarks
 ==========================
 PlanarSLAMExample: simple robotics example using the pre-built planar SLAM domain
-PlanarSLAMSelfContained_advanced: simple robotics example with all typedefs internal to this script.
+PlanarSLAMExample_selfcontained: simple robotics example with all typedefs internal to this script.
 
 Visual SLAM
 ===========