diff --git a/.cproject b/.cproject
index 7c1c35ba1..3283b0ffc 100644
--- a/.cproject
+++ b/.cproject
@@ -300,7 +300,6 @@
 <buildTargets>
 <target name="check" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>check</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -308,6 +307,7 @@
 </target>
 <target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testSimpleCamera.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -315,6 +315,7 @@
 </target>
 <target name="testCal3_S2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testCal3_S2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -322,7 +323,6 @@
 </target>
 <target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>testVSLAMFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -330,6 +330,7 @@
 </target>
 <target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testCalibratedCamera.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -337,7 +338,6 @@
 </target>
 <target name="testConditionalGaussian.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>testConditionalGaussian.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -345,6 +345,7 @@
 </target>
 <target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testPose2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -352,15 +353,21 @@
 </target>
 <target name="testFGConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>testFGConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
+<buildTarget>testRot3.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></buildArguments>
 <buildTarget>install</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -368,7 +375,6 @@
 </target>
 <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>clean</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -376,7 +382,6 @@
 </target>
 <target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments></buildArguments>
 <buildTarget>check</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
diff --git a/cpp/Rot3.cpp b/cpp/Rot3.cpp
index e8c9ab49a..4aa595a9e 100644
--- a/cpp/Rot3.cpp
+++ b/cpp/Rot3.cpp
@@ -23,11 +23,12 @@ namespace gtsam {
 
 		double ct = cos(t), st = sin(t);
 
+		print(w);
 		Point3 r1 = Point3(ct + w(0) * w(0) * (1 - ct), w(2) * st + w(0) * w(1) * (1 - ct), -w(1) * st + w(0) * w(2) * (1 - ct));
 		Point3 r2 = Point3(w(1) * w(0) * (1 - ct) - w(2) * st, w(1) * w(1) * (1 - ct) + ct, w(1) * w(2) * (1 - ct) + w(0) * st);
 		Point3 r3 = Point3(w(1) * st + w(2) * w(0) * (1 - ct), -w(0) * st + w(2) * w(1) * (1 - ct), ct + w(2) * w(2) * (1 - ct));
 
-		return Rot3(r1, r2, r2);
+		return Rot3(r1, r2, r3);
 	}
 
 	/* ************************************************************************* */
diff --git a/cpp/testRot3.cpp b/cpp/testRot3.cpp
index 466c54d95..7c630a521 100644
--- a/cpp/testRot3.cpp
+++ b/cpp/testRot3.cpp
@@ -53,6 +53,14 @@ TEST( Rot3, rodriguez) {
   CHECK(assert_equal(rd1,rd2));
 }
 
+/* ************************************************************************* */
+TEST( Rot3, rodriguez2) {
+  Vector v(3); v(0) = 0; v(1) = 1; v(2) = 0;
+  Rot3 rd1 = rodriguez(v, 3.14/4.0);
+  Rot3 rd2(0.707388,0,0.706825,0,1,0,-0.706825,0,0.707388);
+  CHECK(rd1.equals(rd2,0.0001));
+}
+
 /* ************************************************************************* */
 TEST( Rot3, exmap)
 {