diff --git a/.cproject b/.cproject
index 7eaf0065f..d0e73a8bb 100644
--- a/.cproject
+++ b/.cproject
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <?fileVersion 4.0.0?>
 
 <cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
@@ -298,22 +298,6 @@
 			</storageModule>
 			<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 <buildTargets>
-<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-<buildCommand>make</buildCommand>
-<buildArguments>-j2</buildArguments>
-<buildTarget>install</buildTarget>
-<stopOnError>true</stopOnError>
-<useDefaultCommand>true</useDefaultCommand>
-<runAllBuilders>true</runAllBuilders>
-</target>
-<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-<buildCommand>make</buildCommand>
-<buildArguments>-j2</buildArguments>
-<buildTarget>check</buildTarget>
-<stopOnError>true</stopOnError>
-<useDefaultCommand>true</useDefaultCommand>
-<runAllBuilders>true</runAllBuilders>
-</target>
 <target name="check" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-k</buildArguments>
@@ -468,7 +452,7 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
+<buildArguments></buildArguments>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -483,7 +467,7 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
+<buildArguments></buildArguments>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -719,18 +703,10 @@
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
-<target name="testPose3Config.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<target name="testLieConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-j2</buildArguments>
-<buildTarget>testPose3Config.run</buildTarget>
-<stopOnError>true</stopOnError>
-<useDefaultCommand>true</useDefaultCommand>
-<runAllBuilders>true</runAllBuilders>
-</target>
-<target name="testPose3Graph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-<buildCommand>make</buildCommand>
-<buildArguments>-j2</buildArguments>
-<buildTarget>testPose3Graph.run</buildTarget>
+<buildTarget>testLieConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
@@ -759,6 +735,22 @@
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments>-j2</buildArguments>
+<buildTarget>install</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
+<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments>-j2</buildArguments>
+<buildTarget>check</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
 </buildTargets>
 </storageModule>
 </cconfiguration>
diff --git a/cpp/Lie.h b/cpp/Lie.h
index 593feabc9..11385f485 100644
--- a/cpp/Lie.h
+++ b/cpp/Lie.h
@@ -75,7 +75,7 @@ namespace gtsam {
   /** Call equal on the object without tolerance (use default tolerance) */
   template<class T>
   inline bool equal(const T& obj1, const T& obj2) {
-    return obj1.equal(obj2);
+    return obj1.equals(obj2);
   }
 
   // Vector Group operations
diff --git a/cpp/Point2.h b/cpp/Point2.h
index 931dc2dbf..07a6fe9e6 100644
--- a/cpp/Point2.h
+++ b/cpp/Point2.h
@@ -62,18 +62,22 @@ namespace gtsam {
     }
   };
 
-  // Lie group functions
+  /** Lie group functions */
 
-  // Dimensionality of the tangent space
+  /** Global print calls member function */
+  inline void print(const Point2& p, std::string& s) { p.print(s); }
+  inline void print(const Point2& p) { p.print(); }
+
+  /** Dimensionality of the tangent space */
   inline size_t dim(const Point2& obj) { return 2; }
 
-  // Exponential map around identity - just create a Point2 from a vector
+  /** Exponential map around identity - just create a Point2 from a vector */
   template<> inline Point2 expmap(const Vector& dp) { return Point2(dp); }
 
-  // Log map around identity - just return the Point2 as a vector
+  /** Log map around identity - just return the Point2 as a vector */
   inline Vector logmap(const Point2& dp) { return Vector_(2, dp.x(), dp.y()); }
 
-  // "Compose", just adds the coordinates of two points.
+  /** "Compose", just adds the coordinates of two points. */
   inline Point2 compose(const Point2& p1, const Point2& p0) { return p0+p1; }
   inline Matrix Dcompose1(const Point2& p1, const Point2& p0) {
     return Matrix_(2,2,
@@ -84,7 +88,7 @@ namespace gtsam {
         1.0, 0.0,
         0.0, 1.0); }
 
-  // "Inverse" - negates each coordinate such that compose(p,inverse(p))=Point2()
+  /** "Inverse" - negates each coordinate such that compose(p,inverse(p))=Point2() */
   inline Point2 inverse(const Point2& p) { return Point2(-p.x(), -p.y()); }
 
 }
diff --git a/cpp/Point3.h b/cpp/Point3.h
index febf0fa95..a1f873f83 100644
--- a/cpp/Point3.h
+++ b/cpp/Point3.h
@@ -78,18 +78,20 @@ namespace gtsam {
   };
 
 
-  /** return DOF, dimensionality of tangent space */
+  /** Global print calls member function */
+  inline void print(const Point3& p, std::string& s) { p.print(s); }
+  inline void print(const Point3& p) { p.print(); }
 
-  // Dimensionality of the tangent space
+  /** return DOF, dimensionality of tangent space */
   inline size_t dim(const Point3&) { return 3; }
 
-  // Exponential map at identity - just create a Point3 from x,y,z
+  /** Exponential map at identity - just create a Point3 from x,y,z */
   template<> inline Point3 expmap(const Vector& dp) { return Point3(dp); }
 
-  // Log map at identity - return the x,y,z of this point
+  /** Log map at identity - return the x,y,z of this point */
   inline Vector logmap(const Point3& dp) { return Vector_(3, dp.x(), dp.y(), dp.z()); }
 
-  // "Compose" - just adds coordinates of two points
+  /** "Compose" - just adds coordinates of two points */
   inline Point3 compose(const Point3& p1, const Point3& p0) { return p0+p1; }
   inline Matrix Dcompose1(const Point3& p1, const Point3& p0) {
     return Matrix_(3,3,
@@ -104,11 +106,11 @@ namespace gtsam {
         0.0, 0.0, 1.0);
   }
 
-  // "Inverse" - negates the coordinates such that compose(p, inverse(p)) = Point3()
+  /** "Inverse" - negates the coordinates such that compose(p, inverse(p)) = Point3() */
   inline Point3 inverse(const Point3& p) { return Point3(-p.x(), -p.y(), -p.z()); }
 
 
-  // Syntactic sugar for multiplying coordinates by a scalar s*p
+  /** Syntactic sugar for multiplying coordinates by a scalar s*p */
   inline Point3 operator*(double s, const Point3& p) { return p*s;}
 
   /** add two points, add(p,q) is same as p+q */
diff --git a/cpp/Pose3.h b/cpp/Pose3.h
index 7cc61bd1a..af05b5205 100644
--- a/cpp/Pose3.h
+++ b/cpp/Pose3.h
@@ -68,42 +68,42 @@ namespace gtsam {
     }
   }; // Pose3 class
 
-  // global print
+  /** global print */
   inline void print(const Pose3& p, const std::string& s = "") { p.print(s);}
 
-  // Dimensionality of the tangent space
+  /** Dimensionality of the tangent space */
   inline size_t dim(const Pose3&) { return 6; }
 
-  // Compose two poses
+  /** Compose two poses */
   inline Pose3 compose(const Pose3& p0, const Pose3& p1) {
     return Pose3(p0.rotation()*p1.rotation(),
         p0.translation() + p0.rotation()*p1.translation());
   }
 
-  // Find the inverse pose s.t. inverse(p)*p = Pose3()
+  /** Find the inverse pose s.t. inverse(p)*p = Pose3() */
   inline Pose3 inverse(const Pose3& p) {
     Rot3 Rt = inverse(p.rotation());
     return Pose3(Rt, Rt*(-p.translation()));
   }
 
-  // Exponential map at identity - create a pose with a translation and
-  // rotation (in canonical coordinates)
+  /** Exponential map at identity - create a pose with a translation and
+   * rotation (in canonical coordinates). */
   template<> Pose3 expmap(const Vector& d);
 
-  // Log map at identity - return the translation and canonical rotation
-  // coordinates of a pose.
+  /** Log map at identity - return the translation and canonical rotation
+   * coordinates of a pose. */
   Vector logmap(const Pose3& p);
 
-  // todo: these are the "old-style" expmap and logmap about the specified
-  // pose.
-  // Increments the offset and rotation independently given a translation and
-  // canonical rotation coordinates
+  /** todo: these are the "old-style" expmap and logmap about the specified
+   * pose.
+   * Increments the offset and rotation independently given a translation and
+   * canonical rotation coordinates */
   template<> inline Pose3 expmap<Pose3>(const Pose3& p0, const Vector& d) {
     return Pose3(expmap(p0.rotation(), sub(d, 0, 3)),
         expmap(p0.translation(), sub(d, 3, 6)));
   }
 
-  // Independently computes the logmap of the translation and rotation.
+  /** Independently computes the logmap of the translation and rotation. */
   template<> inline Vector logmap<Pose3>(const Pose3& p0, const Pose3& pp) {
     const Vector r(logmap(p0.rotation(), pp.rotation())),
         t(logmap(p0.translation(), pp.translation()));
diff --git a/cpp/Rot2.h b/cpp/Rot2.h
index 076b762eb..603e2bfdc 100644
--- a/cpp/Rot2.h
+++ b/cpp/Rot2.h
@@ -77,36 +77,40 @@ namespace gtsam {
 
   // Lie group functions
 
-  // Dimensionality of the tangent space
+  /** Global print calls member function */
+  inline void print(const Rot2& r, std::string& s) { r.print(s); }
+  inline void print(const Rot2& r) { r.print(); }
+
+  /** Dimensionality of the tangent space */
   inline size_t dim(const Rot2&) { return 1; }
 
-  // Expmap around identity - create a rotation from an angle
+  /** Expmap around identity - create a rotation from an angle */
   template<> inline Rot2 expmap(const Vector& v) {
     if (zero(v)) return (Rot2());
     else return Rot2(v(0));
   }
 
-  // Logmap around identity - return the angle of the rotation
+  /** Logmap around identity - return the angle of the rotation */
   inline Vector logmap(const Rot2& r) {
     return Vector_(1, r.theta());
   }
 
-  // Compose - make a new rotation by adding angles
+  /** Compose - make a new rotation by adding angles */
   inline Rot2 compose(const Rot2& r0, const Rot2& r1) {
     return Rot2(
         r0.c() * r1.c() - r0.s() * r1.s(),
         r0.s() * r1.c() + r0.c() * r1.s());
   }
 
-  // Syntactic sugar R1*R2 = compose(R1,R2)
+  /** Syntactic sugar R1*R2 = compose(R1,R2) */
   inline Rot2 operator*(const Rot2& r0, const Rot2& r1) {
     return compose(r0, r1);
   }
 
-  // The inverse rotation - negative angle
+  /** The inverse rotation - negative angle */
   inline Rot2 inverse(const Rot2& r) { return Rot2(r.c(), -r.s());}
 
-  // Shortcut to compose the inverse: invcompose(R0,R1) = inverse(R0)*R1
+  /** Shortcut to compose the inverse: invcompose(R0,R1) = inverse(R0)*R1 */
   inline Rot2 invcompose(const Rot2& r0, const Rot2& r1) {
     return Rot2(
          r0.c() * r1.c() + r0.s() * r1.s(),
diff --git a/cpp/Rot3.h b/cpp/Rot3.h
index bd28d633d..9c235749a 100644
--- a/cpp/Rot3.h
+++ b/cpp/Rot3.h
@@ -117,6 +117,9 @@ namespace gtsam {
     }
   };
 
+  /** Global print calls member function */
+  inline void print(const Rot3& r, std::string& s) { r.print(s); }
+  inline void print(const Rot3& r) { r.print(); }
 
   /**
    * Rodriguez' formula to compute an incremental rotation matrix
diff --git a/cpp/testLieConfig.cpp b/cpp/testLieConfig.cpp
index c273bf9b2..6d28d9398 100644
--- a/cpp/testLieConfig.cpp
+++ b/cpp/testLieConfig.cpp
@@ -110,11 +110,15 @@ TEST(LieConfig, expmap_d)
   config0.insert("v1", Vector_(3, 1.0, 2.0, 3.0));
   config0.insert("v2", Vector_(3, 5.0, 6.0, 7.0));
   //config0.print("config0");
+  CHECK(equal(config0, config0));
+  CHECK(config0.equals(config0));
 
   LieConfig<Pose2> poseconfig;
   poseconfig.insert("p1", Pose2(1,2,3));
   poseconfig.insert("p2", Pose2(0.3, 0.4, 0.5));
   //poseconfig.print("poseconfig");
+  CHECK(equal(config0, config0));
+  CHECK(config0.equals(config0));
 }
 
 /* ************************************************************************* */