diff --git a/.cproject b/.cproject
index 2f83faf3b..f5bfad029 100644
--- a/.cproject
+++ b/.cproject
@@ -390,7 +390,6 @@
 					</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>
@@ -406,6 +405,7 @@
 					</target>
 					<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -413,6 +413,7 @@
 					</target>
 					<target name="clean" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -420,6 +421,7 @@
 					</target>
 					<target name="testBTree.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testBTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -427,6 +429,7 @@
 					</target>
 					<target name="testDSF.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testDSF.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -434,6 +437,7 @@
 					</target>
 					<target name="testDSFVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testDSFVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -441,6 +445,7 @@
 					</target>
 					<target name="testMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -448,6 +453,7 @@
 					</target>
 					<target name="testSPQRUtil.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -455,6 +461,7 @@
 					</target>
 					<target name="testVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -462,6 +469,7 @@
 					</target>
 					<target name="timeMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>timeMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -469,6 +477,7 @@
 					</target>
 					<target name="all" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -500,7 +509,6 @@
 					</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>
@@ -508,7 +516,6 @@
 					</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>
@@ -556,7 +563,6 @@
 					</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>
@@ -564,7 +570,6 @@
 					</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>
@@ -572,7 +577,6 @@
 					</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>
@@ -620,6 +624,7 @@
 					</target>
 					<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -627,6 +632,7 @@
 					</target>
 					<target name="testGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -634,6 +640,7 @@
 					</target>
 					<target name="testGaussianISAM.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testGaussianISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -641,6 +648,7 @@
 					</target>
 					<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testGaussianISAM2.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -648,6 +656,7 @@
 					</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>
@@ -655,6 +664,7 @@
 					</target>
 					<target name="testIterative.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testIterative.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -662,6 +672,7 @@
 					</target>
 					<target name="testNonlinearEquality.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testNonlinearEquality.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -669,6 +680,7 @@
 					</target>
 					<target name="testNonlinearFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testNonlinearFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -676,6 +688,7 @@
 					</target>
 					<target name="testNonlinearFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testNonlinearFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -683,6 +696,7 @@
 					</target>
 					<target name="testNonlinearOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testNonlinearOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -690,6 +704,7 @@
 					</target>
 					<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testSQP.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -697,6 +712,7 @@
 					</target>
 					<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testSubgraphPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -704,6 +720,7 @@
 					</target>
 					<target name="testTupleConfig.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testTupleConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -711,6 +728,7 @@
 					</target>
 					<target name="timeGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>timeGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -718,6 +736,7 @@
 					</target>
 					<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testBayesNetPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -725,6 +744,7 @@
 					</target>
 					<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testConstraintOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -732,6 +752,7 @@
 					</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>
@@ -739,6 +760,7 @@
 					</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>
@@ -746,6 +768,7 @@
 					</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>
@@ -753,6 +776,7 @@
 					</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>
@@ -760,6 +784,7 @@
 					</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>
@@ -767,6 +792,7 @@
 					</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>
@@ -830,6 +856,7 @@
 					</target>
 					<target name="all" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -837,6 +864,7 @@
 					</target>
 					<target name="clean" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -844,6 +872,7 @@
 					</target>
 					<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -851,6 +880,7 @@
 					</target>
 					<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -858,6 +888,7 @@
 					</target>
 					<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -865,6 +896,7 @@
 					</target>
 					<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -888,6 +920,7 @@
 					</target>
 					<target name="rebuild" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -895,6 +928,7 @@
 					</target>
 					<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -902,6 +936,7 @@
 					</target>
 					<target name="check" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -909,6 +944,7 @@
 					</target>
 					<target name="clean" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -916,6 +952,7 @@
 					</target>
 					<target name="testPlanarSLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPlanarSLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -923,6 +960,7 @@
 					</target>
 					<target name="testPose2Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose2Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -930,6 +968,7 @@
 					</target>
 					<target name="testPose2Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose2Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -937,6 +976,7 @@
 					</target>
 					<target name="testPose2Prior.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose2Prior.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -944,6 +984,7 @@
 					</target>
 					<target name="testPose2SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose2SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -951,6 +992,7 @@
 					</target>
 					<target name="testPose3Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose3Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -958,6 +1000,7 @@
 					</target>
 					<target name="testPose3SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose3SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -965,6 +1008,7 @@
 					</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>
@@ -972,6 +1016,7 @@
 					</target>
 					<target name="testVSLAMConfig.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testVSLAMConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -979,6 +1024,7 @@
 					</target>
 					<target name="testVSLAMFactor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testVSLAMFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -986,6 +1032,7 @@
 					</target>
 					<target name="testVSLAMGraph.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testVSLAMGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -993,6 +1040,7 @@
 					</target>
 					<target name="testPose3Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>testPose3Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1000,6 +1048,7 @@
 					</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>
@@ -1007,6 +1056,7 @@
 					</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>
@@ -1014,6 +1064,7 @@
 					</target>
 					<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1075,90 +1126,6 @@
 						<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>
@@ -1185,6 +1152,7 @@
 					</target>
 					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1192,11 +1160,108 @@
 					</target>
 					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</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>-j2</buildArguments>
@@ -1205,6 +1270,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="testSubgraphPreconditioner.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>testSubgraphPreconditioner.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>-j2</buildArguments>