multi-frontal solver works now as a result of flight delay

.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>
@@ -394,14 +405,22 @@
 					</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>
 						<runAllBuilders>true</runAllBuilders>
 					</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>
+						<runAllBuilders>true</runAllBuilders>
+					</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>
@@ -409,7 +428,6 @@
 					</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>
@@ -417,7 +435,6 @@
 					</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>
@@ -425,7 +442,6 @@
 					</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>
@@ -433,7 +449,6 @@
 					</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>
@@ -441,7 +456,6 @@
 					</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>
@@ -449,7 +463,6 @@
 					</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>
@@ -457,7 +470,6 @@
 					</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>
@@ -465,7 +477,6 @@
 					</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>
@@ -473,7 +484,6 @@
 					</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>
@@ -481,6 +491,7 @@
 					</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>
@@ -488,6 +499,7 @@
 					</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>
@@ -503,6 +515,7 @@
 					</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>
@@ -510,6 +523,7 @@
 					</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>
@@ -517,6 +531,7 @@
 					</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>
@@ -524,6 +539,7 @@
 					</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>
@@ -531,6 +547,7 @@
 					</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>
@@ -538,6 +555,7 @@
 					</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>
@@ -545,6 +563,7 @@
 					</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>
@@ -552,6 +571,7 @@
 					</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>
@@ -559,6 +579,7 @@
 					</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>
@@ -566,6 +587,7 @@
 					</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>
@@ -573,6 +595,7 @@
 					</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>
@@ -580,6 +603,7 @@
 					</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>
@@ -587,6 +611,7 @@
 					</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>
@@ -594,6 +619,7 @@
 					</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>
@@ -601,6 +627,7 @@
 					</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>
@@ -608,7 +635,6 @@
 					</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>
@@ -616,7 +642,6 @@
 					</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>
@@ -624,7 +649,6 @@
 					</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>
@@ -632,7 +656,6 @@
 					</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>
@@ -640,7 +663,6 @@
 					</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>
@@ -648,7 +670,6 @@
 					</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>
@@ -656,7 +677,6 @@
 					</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>
@@ -664,7 +684,6 @@
 					</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>
@@ -672,7 +691,6 @@
 					</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>
@@ -680,7 +698,6 @@
 					</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>
@@ -688,7 +705,6 @@
 					</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>
@@ -696,7 +712,6 @@
 					</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>
@@ -704,7 +719,6 @@
 					</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>
@@ -712,7 +726,6 @@
 					</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>
@@ -720,7 +733,6 @@
 					</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>
@@ -728,7 +740,6 @@
 					</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>
@@ -736,7 +747,6 @@
 					</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>
@@ -744,7 +754,6 @@
 					</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>
@@ -752,7 +761,6 @@
 					</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>
@@ -760,7 +768,6 @@
 					</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>
@@ -768,7 +775,6 @@
 					</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>
@@ -776,7 +782,6 @@
 					</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>
@@ -784,6 +789,7 @@
 					</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>
@@ -791,6 +797,7 @@
 					</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>
@@ -798,6 +805,7 @@
 					</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>
@@ -805,6 +813,7 @@
 					</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>
@@ -812,6 +821,7 @@
 					</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>
@@ -819,6 +829,7 @@
 					</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>
@@ -826,6 +837,7 @@
 					</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>
@@ -833,7 +845,6 @@
 					</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>
@@ -841,7 +852,6 @@
 					</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>
@@ -849,7 +859,6 @@
 					</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>
@@ -857,7 +866,6 @@
 					</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>
@@ -865,7 +873,6 @@
 					</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>
@@ -873,7 +880,6 @@
 					</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>
@@ -881,6 +887,7 @@
 					</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>
@@ -888,6 +895,7 @@
 					</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>
@@ -895,7 +903,6 @@
 					</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>
@@ -903,7 +910,6 @@
 					</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>
@@ -911,7 +917,6 @@
 					</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>
@@ -919,7 +924,6 @@
 					</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>
@@ -927,7 +931,6 @@
 					</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>
@@ -935,7 +938,6 @@
 					</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>
@@ -943,7 +945,6 @@
 					</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>
@@ -951,7 +952,6 @@
 					</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>
@@ -959,7 +959,6 @@
 					</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>
@@ -967,7 +966,6 @@
 					</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>
@@ -975,7 +973,6 @@
 					</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>
@@ -983,7 +980,6 @@
 					</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>
@@ -991,7 +987,6 @@
 					</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>
@@ -999,7 +994,6 @@
 					</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>
@@ -1007,7 +1001,6 @@
 					</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>
@@ -1015,7 +1008,6 @@
 					</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>
@@ -1023,7 +1015,6 @@
 					</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>
@@ -1031,7 +1022,6 @@
 					</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>
@@ -1039,7 +1029,6 @@
 					</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>
@@ -1047,15 +1036,6 @@
 					</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>
@@ -1079,11 +1059,103 @@
 					</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>
@@ -1110,7 +1182,6 @@
 					</target>
 					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1118,117 +1189,38 @@
 					</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>
 						<runAllBuilders>true</runAllBuilders>
 					</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>
+						<runAllBuilders>true</runAllBuilders>
+					</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="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1236,6 +1228,7 @@
 					</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>
@@ -1243,6 +1236,7 @@
 					</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>
@@ -1250,6 +1244,7 @@
 					</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>

inference/EliminationTree.h

@@ -15,7 +15,7 @@
 namespace gtsam {
 
 	/**
-	 * An elimination tree (see Gilbert01bit) associated with a factorg raph and an ordering
+	 * An elimination tree (see Gilbert01bit) associated with a factor graph and an ordering
 	 * is a cluster-tree where there is one node j for each variable, and the parent of each node
 	 * corresponds to the first variable up the ordering in the Cholesky factor that j is connected to.
 	 */

inference/JunctionTree.h

@@ -36,7 +36,7 @@ namespace gtsam {
 		typedef BayesTree<SymbolicConditional> SymbolicBayesTree;
 
 	private:
-		// distribute the factors along the Bayes tree
+		// distribute the factors along the cluster tree
 		sharedClique distributeFactors(FG& fg,
 				const SymbolicBayesTree::sharedClique clique);
 

inference/tests/testJunctionTree.cpp

@@ -41,20 +41,18 @@ TEST( JunctionTree, constructor )
 
 	Ordering ordering; ordering += "x2","x1","x3","x4";
 	SymbolicJunctionTree actual(fg, ordering);
+//	CHECK(assert_equal<SymbolicJunctionTree>(expected, actual));
 
-	/*
-	CHECK(assert_equal<SymbolicJunctionTree>(expected, actual));
 	Ordering frontal1; frontal1 += "x3", "x4";
 	Ordering frontal2; frontal2 += "x2", "x1";
 	Unordered sep1;
 	Unordered sep2; sep2 += "x3";
-	CHECK(assert_equal(frontal1, actual.root()->frontal()));
+	CHECK(assert_equal(frontal1, actual.root()->frontal_));
-	CHECK(assert_equal(sep1,     actual.root()->separator()));
+	CHECK(assert_equal(sep1,     actual.root()->separator_));
 	LONGS_EQUAL(1,               actual.root()->size());
-	CHECK(assert_equal(frontal2, actual.root()->children()[0]->frontal()));
+	CHECK(assert_equal(frontal2, actual.root()->children_[0]->frontal_));
-	CHECK(assert_equal(sep2,     actual.root()->children()[0]->separator()));
+	CHECK(assert_equal(sep2,     actual.root()->children_[0]->separator_));
-	LONGS_EQUAL(2,               actual.root()->children()[0]->size());
+	LONGS_EQUAL(2,               actual.root()->children_[0]->size());
-	*/
 }
 
 /* ************************************************************************* */

linear/GaussianFactor.cpp

@@ -389,7 +389,6 @@ GaussianFactor::eliminateMatrix(Matrix& Ab, SharedDiagonal model,
 	if (verbose) model->print("Before QR");
 	SharedDiagonal noiseModel = model->QR(Ab);
 	if (verbose) model->print("After QR");
-//	gtsam::print(Ab, "Ab after QR");
 
 	// get dimensions of the eliminated variable
 	// TODO: this is another map find that should be avoided !
@@ -398,34 +397,6 @@ GaussianFactor::eliminateMatrix(Matrix& Ab, SharedDiagonal model,
 	// Get alias to augmented RHS d
 	ublas::matrix_column<Matrix> d(Ab,n);
 
-//	// create base conditional Gaussian
-//	GaussianConditional::shared_ptr conditional(new GaussianConditional(frontals.front(),
-//			sub(d,  0, n1),                   // form d vector
-//			sub(Ab, 0, n1, 0, n1),            // form R matrix
-//			sub(noiseModel->sigmas(),0,n1))); // get standard deviations
-//
-//	// extract the block matrices for parents in both CG and LF
-//	GaussianFactor::shared_ptr factor(new GaussianFactor);
-//	size_t j = n1;
-//	BOOST_FOREACH(const Symbol& cur_key, separators) {
-//		size_t dim = dimensions.at(cur_key); // TODO avoid find !
-//		conditional->add(cur_key, sub(Ab, 0, n1, j, j+dim));
-//		factor->insert(cur_key, sub(Ab, n1, maxRank, j, j+dim)); // TODO: handle zeros properly
-//		j+=dim;
-//	}
-//
-//	// Set sigmas
-//	// set the right model here
-//	if (noiseModel->isConstrained())
-//		factor->model_ = noiseModel::Constrained::MixedSigmas(sub(noiseModel->sigmas(),n1,maxRank));
-//	else
-//		factor->model_ = noiseModel::Diagonal::Sigmas(sub(noiseModel->sigmas(),n1,maxRank));
-//
-//	// extract ds vector for the new b
-//	factor->set_b(sub(d, n1, maxRank));
-//
-//	return make_pair(conditional, factor);
-
 	// extract the conditionals
 	GaussianBayesNet bn;
 	size_t n0 = 0;

linear/GaussianFactorGraph.cpp

@@ -16,7 +16,7 @@
 #include "FactorGraph-inl.h"
 #include "inference-inl.h"
 #include "iterative.h"
-//#include "GaussianJunctionTree.h"
+#include "GaussianJunctionTree.h"
 
 using namespace std;
 using namespace gtsam;
@@ -296,12 +296,14 @@ VectorConfig GaussianFactorGraph::optimize(const Ordering& ordering, bool old)
 }
 
 /* ************************************************************************* */
-//VectorConfig GaussianFactorGraph::optimizeMultiFrontals(const Ordering& ordering)
+VectorConfig GaussianFactorGraph::optimizeMultiFrontals(const Ordering& ordering)
-//{
+{
-//	GaussianJunctionTree junctionTree(*this, ordering);
+	GaussianJunctionTree junctionTree(*this, ordering);
-//
+
-//	return junctionTree.optimize();
+	// calculate new configuration (using backsubstitution)
-//}
+	VectorConfig delta = junctionTree.optimize();
+	return delta;
+}
 
 /* ************************************************************************* */
 boost::shared_ptr<GaussianBayesNet>

linear/GaussianFactorGraph.h

@@ -155,7 +155,8 @@ namespace gtsam {
     VectorConfig optimize(const Ordering& ordering, bool enableJoinFactor = true);
 
     /**
-     * optimize a linear factor graph with multi-frontals
+     * optimize a linear factor graph using a multi-frontal solver
+     * @param ordering fg in order
      */
     VectorConfig optimizeMultiFrontals(const Ordering& ordering);
 

linear/GaussianJunctionTree.cpp

@@ -45,7 +45,7 @@ namespace gtsam {
 		// eliminate from leaves to the root
 		typedef JunctionTree<GaussianFactorGraph> Base;
 		BayesTree<GaussianConditional> bayesTree;
-		this->eliminate<GaussianConditional>();
+		bayesTree = this->eliminate<GaussianConditional>();
 
 		// back-substitution
 		VectorConfig result;

linear/tests/testGaussianJunctionTree.cpp

@@ -22,6 +22,24 @@ using namespace boost::assign;
 using namespace std;
 using namespace gtsam;
 
+GaussianFactorGraph createChain() {
+
+	typedef GaussianFactorGraph::sharedFactor Factor;
+	SharedDiagonal model(Vector_(1, 0.5));
+	Factor factor1(new GaussianFactor("x1", Matrix_(1,1,1.), "x2", Matrix_(1,1,1.), Vector_(1,1.),  model));
+	Factor factor2(new GaussianFactor("x2", Matrix_(1,1,1.), "x3", Matrix_(1,1,1.), Vector_(1,1.),  model));
+	Factor factor3(new GaussianFactor("x3", Matrix_(1,1,1.), "x4", Matrix_(1,1,1.), Vector_(1,1.),  model));
+	Factor factor4(new GaussianFactor("x4", Matrix_(1,1,1.), Vector_(1,1.),  model));
+
+	GaussianFactorGraph fg;
+	fg.push_back(factor1);
+	fg.push_back(factor2);
+	fg.push_back(factor3);
+	fg.push_back(factor4);
+
+	return fg;
+}
+
 /* ************************************************************************* */
 /**
  * x1 - x2 - x3 - x4
@@ -38,19 +56,7 @@ using namespace gtsam;
  */
 TEST( GaussianJunctionTree, eliminate )
 {
-	typedef GaussianFactorGraph::sharedFactor Factor;
+	GaussianFactorGraph fg = createChain();
-	SharedDiagonal model(Vector_(1, 0.5));
-	Factor factor1(new GaussianFactor("x1", Matrix_(1,1,1.), "x2", Matrix_(1,1,1.), Vector_(1,1.),  model));
-	Factor factor2(new GaussianFactor("x2", Matrix_(1,1,1.), "x3", Matrix_(1,1,1.), Vector_(1,1.),  model));
-	Factor factor3(new GaussianFactor("x3", Matrix_(1,1,1.), "x4", Matrix_(1,1,1.), Vector_(1,1.),  model));
-	Factor factor4(new GaussianFactor("x4", Matrix_(1,1,1.), Vector_(1,1.),  model));
-
-	GaussianFactorGraph fg;
-	fg.push_back(factor1);
-	fg.push_back(factor2);
-	fg.push_back(factor3);
-	fg.push_back(factor4);
-
 	Ordering ordering; ordering += "x2","x1","x3","x4";
 	GaussianJunctionTree junctionTree(fg, ordering);
 		BayesTree<GaussianConditional> bayesTree = junctionTree.eliminate<GaussianConditional>();
@@ -66,6 +72,23 @@ TEST( GaussianJunctionTree, eliminate )
 	CHECK(assert_equal(bayesTree_expected, bayesTree));
 }
 
+
+/* ************************************************************************* */
+TEST( GaussianJunctionTree, optimizeMultiFrontal )
+{
+	GaussianFactorGraph fg = createChain();
+	Ordering ordering; ordering += "x2","x1","x3","x4";
+	GaussianJunctionTree tree(fg, ordering);
+
+	VectorConfig actual = tree.optimize();
+	VectorConfig expected;
+	expected.insert("x1", Vector_(1, 0.));
+	expected.insert("x2", Vector_(1, 1.));
+	expected.insert("x3", Vector_(1, 0.));
+	expected.insert("x4", Vector_(1, 1.));
+	CHECK(assert_equal(expected,actual));
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr);}
 /* ************************************************************************* */

tests/testGaussianFactorGraph.cpp

@@ -475,6 +475,24 @@ TEST( GaussianFactorGraph, optimize )
   CHECK(assert_equal(expected,actual));
 }
 
+/* ************************************************************************* */
+TEST( GaussianFactorGraph, optimizeMultiFrontlas )
+{
+	// create a graph
+	GaussianFactorGraph fg = createGaussianFactorGraph();
+
+	// create an ordering
+	Ordering ord; ord += "x2","l1","x1";
+
+	// optimize the graph
+	VectorConfig actual = fg.optimizeMultiFrontals(ord);
+
+	// verify
+	VectorConfig expected = createCorrectDelta();
+
+  CHECK(assert_equal(expected,actual));
+}
+
 /* ************************************************************************* */
 TEST( GaussianFactorGraph, combine)
 {

tests/testGaussianJunctionTree.cpp

@@ -38,12 +38,8 @@ TEST( GaussianJunctionTree, constructor2 )
 
 	// create an ordering
 	Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
-
-	GaussianJunctionTree expected;
 	GaussianJunctionTree actual(fg, ordering);
-//	CHECK(assert_equal<GaussianJunctionTree>(expected, actual));
 
-	/*
 	Ordering frontal1; frontal1 += "x5", "x6", "x4";
 	Ordering frontal2; frontal2 += "x3", "x2";
 	Ordering frontal3; frontal3 += "x1";
@@ -52,22 +48,21 @@ TEST( GaussianJunctionTree, constructor2 )
 	Unordered sep2; sep2 += "x4";
 	Unordered sep3; sep3 += "x2";
 	Unordered sep4; sep4 += "x6";
-	CHECK(assert_equal(frontal1, actual.root()->frontal()));
+	CHECK(assert_equal(frontal1, actual.root()->frontal_));
-	CHECK(assert_equal(sep1,     actual.root()->separator()));
+	CHECK(assert_equal(sep1,     actual.root()->separator_));
 	LONGS_EQUAL(5,               actual.root()->size());
-	CHECK(assert_equal(frontal2, actual.root()->children()[0]->frontal()));
+	CHECK(assert_equal(frontal2, actual.root()->children_[0]->frontal_));
-	CHECK(assert_equal(sep2,     actual.root()->children()[0]->separator()));
+	CHECK(assert_equal(sep2,     actual.root()->children_[0]->separator_));
-	LONGS_EQUAL(4,               actual.root()->children()[0]->size());
+	LONGS_EQUAL(4,               actual.root()->children_[0]->size());
-	CHECK(assert_equal(frontal3, actual.root()->children()[0]->children()[0]->frontal()));
+	CHECK(assert_equal(frontal3, actual.root()->children_[0]->children_[0]->frontal_));
-	CHECK(assert_equal(sep3,     actual.root()->children()[0]->children()[0]->separator()));
+	CHECK(assert_equal(sep3,     actual.root()->children_[0]->children_[0]->separator_));
-	LONGS_EQUAL(2,               actual.root()->children()[0]->children()[0]->size());
+	LONGS_EQUAL(2,               actual.root()->children_[0]->children_[0]->size());
-	CHECK(assert_equal(frontal4, actual.root()->children()[1]->frontal()));
+	CHECK(assert_equal(frontal4, actual.root()->children_[1]->frontal_));
-	CHECK(assert_equal(sep4,     actual.root()->children()[1]->separator()));
+	CHECK(assert_equal(sep4,     actual.root()->children_[1]->separator_));
-	LONGS_EQUAL(2,               actual.root()->children()[1]->size());
+	LONGS_EQUAL(2,               actual.root()->children_[1]->size());
-	*/
 }
 
-/* ************************************************************************* *
+/* ************************************************************************* */
 TEST( GaussianJunctionTree, optimizeMultiFrontal )
 {
 	// create a graph
@@ -77,13 +72,33 @@ TEST( GaussianJunctionTree, optimizeMultiFrontal )
 	Ordering ordering; ordering += "x1","x3","x5","x7","x2","x6","x4";
 
 	// optimize the graph
-	GaussianJunctionTree<GaussianFactorGraph> actual(fg, ordering);
+	GaussianJunctionTree tree(fg, ordering);
-	VectorConfig actual = actual.optimize();
+	VectorConfig actual = tree.optimize();
 
 	// verify
-//	VectorConfig expected = createCorrectDelta();
+	VectorConfig expected; // expected solution
-//
+	Vector v = Vector_(2, 0., 0.);
-//  CHECK(assert_equal(expected,actual));
+	for (int i=1; i<=7; i++)
+		expected.insert(symbol('x', i), v);
+  CHECK(assert_equal(expected,actual));
+}
+
+/* ************************************************************************* */
+TEST( GaussianJunctionTree, optimizeMultiFrontal2)
+{
+	// create a graph
+	Graph nlfg = createNonlinearFactorGraph();
+	Config noisy = createNoisyConfig();
+	GaussianFactorGraph fg = *nlfg.linearize(noisy);
+
+	// optimize the graph
+	Ordering ordering; ordering += "x1","x2","l1";
+	GaussianJunctionTree tree(fg, ordering);
+	VectorConfig actual = tree.optimize();
+
+	// verify
+	VectorConfig expected = createCorrectDelta(); // expected solution
+  CHECK(assert_equal(expected,actual));
 }
 
 /* ************************************************************************* */