diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9c4f8e230..b7c1e0336 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -52,8 +52,7 @@ option(GTSAM_BUILD_EXAMPLES              "Enable/Disable building of examples"
 if(GTSAM_UNSTABLE_AVAILABLE)
     option(GTSAM_BUILD_UNSTABLE              "Enable/Disable libgtsam_unstable"          ON)
 endif()
-option(GTSAM_BUILD_SHARED_LIBRARY        "Enable/Disable building of a shared version of gtsam" ON)
-option(GTSAM_BUILD_STATIC_LIBRARY        "Enable/Disable building of a static version of gtsam" OFF)
+option(GTSAM_BUILD_STATIC_LIBRARY        "Build a static gtsam library, instead of shared" OFF)
 option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
 option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
@@ -76,15 +75,14 @@ if(GTSAM_INSTALL_WRAP AND NOT GTSAM_BUILD_WRAP)
 	message(FATAL_ERROR "GTSAM_INSTALL_WRAP is enabled, please also enable GTSAM_BUILD_WRAP")
 endif()
 
+if(GTSAM_INSTALL_MATLAB_TOOLBOX AND GTSAM_BUILD_STATIC_LIBRARY)
+	message(FATAL_ERROR "GTSAM_INSTALL_MATLAB_TOOLBOX and GTSAM_BUILD_STATIC_LIBRARY are both enabled.  The MATLAB wrapper cannot be compiled with a static GTSAM library because mex modules are themselves shared libraries.  If you want a self-contained mex module, enable GTSAM_MEX_BUILD_STATIC_MODULE instead of GTSAM_BUILD_STATIC_LIBRARY.")
+endif()
+
 # Flags for choosing default packaging tools
 set(CPACK_SOURCE_GENERATOR "TGZ" CACHE STRING "CPack Default Source Generator")
 set(CPACK_GENERATOR        "TGZ" CACHE STRING "CPack Default Binary Generator")
 
-# Sanity check building of libraries
-if (NOT GTSAM_BUILD_SHARED_LIBRARY AND NOT GTSAM_BUILD_STATIC_LIBRARY)
-    message(FATAL_ERROR "Both shared and static version of GTSAM library disabled - need to choose at least one!")
-endif()
-
 # Flags to determine whether tests and examples are build during 'make install'
 # Note that these remove the targets from the 'all'
 option(GTSAM_DISABLE_TESTS_ON_INSTALL "Disables building tests during install" ON)
@@ -286,24 +284,11 @@ endif()
 
 if(GTSAM_ENABLE_CONSISTENCY_CHECKS)
   add_definitions(-DGTSAM_EXTRA_CONSISTENCY_CHECKS)
-endif()   
+endif()
 
 ###############################################################################
 # Add components
 
-# Set default library - static or shared, before adding subdirectories
-if(GTSAM_BUILD_SHARED_LIBRARY)
-	set(gtsam-default gtsam-shared)
-	if(GTSAM_BUILD_UNSTABLE)
-		set(gtsam_unstable-default gtsam_unstable-shared)
-	endif()
-else()
-	set(gtsam-default gtsam-static)
-	if(GTSAM_BUILD_UNSTABLE)
-		set(gtsam_unstable-default gtsam_unstable-static)
-	endif()
-endif()
-
 # Build CppUnitLite
 add_subdirectory(CppUnitLite)
 
@@ -381,8 +366,7 @@ print_config_flag(${GTSAM_BUILD_TESTS}                 "Build Tests
 if (DOXYGEN_FOUND)
     print_config_flag(${GTSAM_BUILD_DOCS}                  "Build Docs                     ")
 endif()
-print_config_flag(${GTSAM_BUILD_SHARED_LIBRARY}        "Build shared GTSAM Library     ")
-print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM Library     ")
+print_config_flag(${GTSAM_BUILD_STATIC_LIBRARY}        "Build static GTSAM library instead of shared")
 print_config_flag(${GTSAM_BUILD_TYPE_POSTFIXES}        "Put build type in library name ")
 if(GTSAM_UNSTABLE_AVAILABLE)
     print_config_flag(${GTSAM_BUILD_UNSTABLE}           "Build libgtsam_unstable        ")
diff --git a/cmake/GtsamBuildTypes.cmake b/cmake/GtsamBuildTypes.cmake
index 1fc259724..f00f3b3b1 100644
--- a/cmake/GtsamBuildTypes.cmake
+++ b/cmake/GtsamBuildTypes.cmake
@@ -10,11 +10,7 @@ if(NOT FIRST_PASS_DONE AND NOT CMAKE_BUILD_TYPE AND NOT MSVC AND NOT XCODE_VERSI
 endif()
 
 # Add option for using build type postfixes to allow installing multiple build modes
-if(MSVC OR XCODE_VERSION)
-  option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
-else()
-  option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" OFF)
-endif()
+option(GTSAM_BUILD_TYPE_POSTFIXES        "Enable/Disable appending the build type to the name of compiled libraries" ON)
 
 # Add debugging flags but only on the first pass
 if(NOT FIRST_PASS_DONE)
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index eae90e298..0d8e3792a 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -28,7 +28,7 @@ foreach(example_src ${example_srcs} )
         set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
     endif()
     
-    target_link_libraries(${example_bin} ${gtsam-default} ${Boost_PROGRAM_OPTIONS_LIBRARY})
+    target_link_libraries(${example_bin} gtsam ${Boost_PROGRAM_OPTIONS_LIBRARY})
 	if(NOT MSVC)
       add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
 	endif()
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index b739f91c3..946ec5bc6 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -95,42 +95,40 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
 # build shared and static versions of the library
 if (GTSAM_BUILD_STATIC_LIBRARY)
     message(STATUS "Building GTSAM - static")
-    add_library(gtsam-static STATIC ${gtsam_srcs})
-	target_link_libraries(gtsam-static ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
-    set_target_properties(gtsam-static PROPERTIES 
+    add_library(gtsam STATIC ${gtsam_srcs})
+	target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
+    set_target_properties(gtsam PROPERTIES 
         OUTPUT_NAME         gtsam
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_version}
      	SOVERSION           ${gtsam_soversion})
 	if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
-		set_target_properties(gtsam-static PROPERTIES
+		set_target_properties(gtsam PROPERTIES
 			PREFIX "lib"
 			COMPILE_DEFINITIONS GTSAM_IMPORT_STATIC)
 	endif()
-    install(TARGETS gtsam-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
-    list(APPEND GTSAM_EXPORTED_TARGETS gtsam-static)
+    install(TARGETS gtsam EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
+    list(APPEND GTSAM_EXPORTED_TARGETS gtsam)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
-endif ()
-
-if (GTSAM_BUILD_SHARED_LIBRARY)
+else()
     message(STATUS "Building GTSAM - shared")
-    add_library(gtsam-shared SHARED ${gtsam_srcs})
-	target_link_libraries(gtsam-shared ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
-    set_target_properties(gtsam-shared PROPERTIES 
+    add_library(gtsam SHARED ${gtsam_srcs})
+    target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
+    set_target_properties(gtsam PROPERTIES 
         OUTPUT_NAME         gtsam
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_version}
      	SOVERSION           ${gtsam_soversion})
 	if(WIN32)
-		set_target_properties(gtsam-shared PROPERTIES
+		set_target_properties(gtsam PROPERTIES
 			PREFIX ""
 			DEFINE_SYMBOL GTSAM_EXPORTS
 			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
 	endif()
-    install(TARGETS gtsam-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
-    list(APPEND GTSAM_EXPORTED_TARGETS gtsam-shared)
+    install(TARGETS gtsam EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+    list(APPEND GTSAM_EXPORTED_TARGETS gtsam)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
-endif(GTSAM_BUILD_SHARED_LIBRARY)
+endif()
 
 # Set dataset paths
 set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp"
@@ -153,10 +151,10 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     
     # Generate, build and install toolbox
     set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
-	if("${gtsam-default}" STREQUAL "gtsam-static")
+	if(GTSAM_BUILD_STATIC_LIBRARY)
 		list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
 	endif()
 
     # Wrap
-    wrap_and_install_library(../gtsam.h "${gtsam-default};${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
+    wrap_and_install_library(../gtsam.h "gtsam;${GTSAM_ADDITIONAL_LIBRARIES}" "" "${mexFlags}")
 endif ()
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index a039a7481..94e2473ed 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -13,11 +13,11 @@ set(base_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(base "${gtsam-default}" "${gtsam-default}" "${base_excluded_files}") 
+    gtsam_add_subdir_tests(base "gtsam" "gtsam" "${base_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(base "${gtsam-default}" "${gtsam-default}" "${base_excluded_files}") 
+    gtsam_add_subdir_timing(base "gtsam" "gtsam" "${base_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/discrete/CMakeLists.txt b/gtsam/discrete/CMakeLists.txt
index 4535868dd..3f1a57e0b 100644
--- a/gtsam/discrete/CMakeLists.txt
+++ b/gtsam/discrete/CMakeLists.txt
@@ -9,7 +9,7 @@ set (discrete_excluded_tests "")
 
 # Add all tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(discrete "${gtsam-default}" "${gtsam-default}" "${discrete_excluded_tests}")
+    gtsam_add_subdir_tests(discrete "gtsam" "gtsam" "${discrete_excluded_tests}")
 endif()
 
 # Build timing scripts
diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt
index b659d8314..96b84193b 100644
--- a/gtsam/geometry/CMakeLists.txt
+++ b/gtsam/geometry/CMakeLists.txt
@@ -10,11 +10,11 @@ set(geometry_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(geometry "${gtsam-default}" "${gtsam-default}" "${geometry_excluded_files}") 
+    gtsam_add_subdir_tests(geometry "gtsam" "gtsam" "${geometry_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(geometry "${gtsam-default}" "${gtsam-default}" "${geometry_excluded_files}") 
+    gtsam_add_subdir_timing(geometry "gtsam" "gtsam" "${geometry_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
index 8e63eecf8..d5c994b00 100644
--- a/gtsam/inference/CMakeLists.txt
+++ b/gtsam/inference/CMakeLists.txt
@@ -10,11 +10,11 @@ set(inference_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(inference "${gtsam-default}" "${gtsam-default}" "${inference_excluded_files}") 
+    gtsam_add_subdir_tests(inference "gtsam" "gtsam" "${inference_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(inference "${gtsam-default}" "${gtsam-default}" "${inference_excluded_files}") 
+    gtsam_add_subdir_timing(inference "gtsam" "gtsam" "${inference_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
index aa1be1127..4a93e2875 100644
--- a/gtsam/linear/CMakeLists.txt
+++ b/gtsam/linear/CMakeLists.txt
@@ -10,7 +10,7 @@ set(linear_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(linear "${gtsam-default}" "${gtsam-default}" "${linear_excluded_files}") 
+    gtsam_add_subdir_tests(linear "gtsam" "gtsam" "${linear_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 if(MSVC)
@@ -20,5 +20,5 @@ endif()
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(linear "${gtsam-default}" "${gtsam-default}" "${linear_excluded_files}") 
+    gtsam_add_subdir_timing(linear "gtsam" "gtsam" "${linear_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/navigation/CMakeLists.txt b/gtsam/navigation/CMakeLists.txt
index f90f25f00..ed599cf15 100644
--- a/gtsam/navigation/CMakeLists.txt
+++ b/gtsam/navigation/CMakeLists.txt
@@ -7,10 +7,10 @@ set (navigation_excluded_tests "")
 
 # Add all tests
 if (GTSAM_BUILD_TESTS)
-	gtsam_add_subdir_tests(navigation "${gtsam-default}" "${gtsam-default}" "${navigation_excluded_tests}") 
+	gtsam_add_subdir_tests(navigation "gtsam" "gtsam" "${navigation_excluded_tests}") 
 endif()
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(navigation "${gtsam-default}" "${gtsam-default}" "${navigation_excluded_files}") 
+    gtsam_add_subdir_timing(navigation "gtsam" "gtsam" "${navigation_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index 3e2fdb689..f4cf0b585 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -10,11 +10,11 @@ set(nonlinear_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(nonlinear "${gtsam-default}" "${gtsam-default}" "${nonlinear_excluded_files}") 
+    gtsam_add_subdir_tests(nonlinear "gtsam" "gtsam" "${nonlinear_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(nonlinear "${gtsam-default}" "${gtsam-default}" "${nonlinear_excluded_files}") 
+    gtsam_add_subdir_timing(nonlinear "gtsam" "gtsam" "${nonlinear_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt
index 53860d913..1c20e3720 100644
--- a/gtsam/slam/CMakeLists.txt
+++ b/gtsam/slam/CMakeLists.txt
@@ -15,10 +15,10 @@ set(slam_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(slam "${gtsam-default}" "${gtsam-default}" "${slam_excluded_files}") 
+    gtsam_add_subdir_tests(slam "gtsam" "gtsam" "${slam_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(slam "${gtsam-default}" "${gtsam-default}" "${slam_excluded_files}") 
+    gtsam_add_subdir_timing(slam "gtsam" "gtsam" "${slam_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/symbolic/CMakeLists.txt b/gtsam/symbolic/CMakeLists.txt
index 9b92f40c6..a683f0711 100644
--- a/gtsam/symbolic/CMakeLists.txt
+++ b/gtsam/symbolic/CMakeLists.txt
@@ -10,11 +10,11 @@ set(symbolic_excluded_files
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    gtsam_add_subdir_tests(symbolic "${gtsam-default}" "${gtsam-default}" "${symbolic_excluded_files}") 
+    gtsam_add_subdir_tests(symbolic "gtsam" "gtsam" "${symbolic_excluded_files}") 
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    gtsam_add_subdir_timing(symbolic "${gtsam-default}" "${gtsam-default}" "${symbolic_excluded_files}") 
+    gtsam_add_subdir_timing(symbolic "gtsam" "gtsam" "${symbolic_excluded_files}") 
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam_unstable/CMakeLists.txt b/gtsam_unstable/CMakeLists.txt
index 72b6a97f6..4b7abdaba 100644
--- a/gtsam_unstable/CMakeLists.txt
+++ b/gtsam_unstable/CMakeLists.txt
@@ -58,40 +58,38 @@ message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
 # build shared and static versions of the library
 if (GTSAM_BUILD_STATIC_LIBRARY)
 	message(STATUS "Building GTSAM_UNSTABLE - static")
-	add_library(gtsam_unstable-static STATIC ${gtsam_unstable_srcs})
-	set_target_properties(gtsam_unstable-static PROPERTIES 
+	add_library(gtsam_unstable STATIC ${gtsam_unstable_srcs})
+	set_target_properties(gtsam_unstable PROPERTIES 
 		OUTPUT_NAME         gtsam_unstable
 		CLEAN_DIRECT_OUTPUT 1
 		VERSION             ${gtsam_unstable_version}
 		SOVERSION           ${gtsam_unstable_soversion})
 	if(WIN32) # Add 'lib' prefix to static library to avoid filename collision with shared library
-		set_target_properties(gtsam_unstable-static PROPERTIES
+		set_target_properties(gtsam_unstable PROPERTIES
 			PREFIX "lib"
 			COMPILE_DEFINITIONS GTSAM_UNSTABLE_IMPORT_STATIC)
 	endif()
-	target_link_libraries(gtsam_unstable-static gtsam-static ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
-	install(TARGETS gtsam_unstable-static EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
-	list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-static)
+	target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
+	install(TARGETS gtsam_unstable EXPORT GTSAM-exports ARCHIVE DESTINATION lib)
+	list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
 	set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
-endif()
-
-if (GTSAM_BUILD_SHARED_LIBRARY)
+else()
     message(STATUS "Building GTSAM_UNSTABLE - shared")
-    add_library(gtsam_unstable-shared SHARED ${gtsam_unstable_srcs})
-    set_target_properties(gtsam_unstable-shared PROPERTIES 
+    add_library(gtsam_unstable SHARED ${gtsam_unstable_srcs})
+    set_target_properties(gtsam_unstable PROPERTIES 
         OUTPUT_NAME         gtsam_unstable
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_unstable_version}
      	SOVERSION           ${gtsam_unstable_soversion})
 	if(WIN32)
-		set_target_properties(gtsam_unstable-shared PROPERTIES
+		set_target_properties(gtsam_unstable PROPERTIES
 			PREFIX ""
 			DEFINE_SYMBOL GTSAM_UNSTABLE_EXPORTS
 			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
 	endif()
-    target_link_libraries(gtsam_unstable-shared gtsam-shared ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
-    install(TARGETS gtsam_unstable-shared EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
-    list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable-shared)
+    target_link_libraries(gtsam_unstable gtsam ${GTSAM_UNSTABLE_BOOST_LIBRARIES})
+    install(TARGETS gtsam_unstable EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+    list(APPEND GTSAM_EXPORTED_TARGETS gtsam_unstable)
     set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
 endif()
 
@@ -102,12 +100,12 @@ if (GTSAM_INSTALL_MATLAB_TOOLBOX)
         
     # Generate, build and install toolbox
     set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
-	if("${gtsam-default}" STREQUAL "gtsam-static")
+	if(GTSAM_BUILD_STATIC_LIBRARY)
 		list(APPEND mexFlags -DGTSAM_IMPORT_STATIC)
 	endif()
 
     # Wrap
-    wrap_and_install_library(gtsam_unstable.h "${gtsam-default};${gtsam_unstable-default}" "" "${mexFlags}")
+    wrap_and_install_library(gtsam_unstable.h "gtsam;gtsam_unstable" "" "${mexFlags}")
 endif(GTSAM_INSTALL_MATLAB_TOOLBOX)
 
 
diff --git a/gtsam_unstable/base/CMakeLists.txt b/gtsam_unstable/base/CMakeLists.txt
index 40337f6a6..22737d533 100644
--- a/gtsam_unstable/base/CMakeLists.txt
+++ b/gtsam_unstable/base/CMakeLists.txt
@@ -3,8 +3,8 @@ file(GLOB base_headers "*.h")
 install(FILES ${base_headers} DESTINATION include/gtsam_unstable/base)
 
 set (base_full_libs
-    ${gtsam-default}
-    ${gtsam_unstable-default})
+    gtsam
+    gtsam_unstable)
 
 # Exclude tests that don't work
 set (base_excluded_tests "")
diff --git a/gtsam_unstable/discrete/CMakeLists.txt b/gtsam_unstable/discrete/CMakeLists.txt
index c978fcde5..a20c5cdb0 100644
--- a/gtsam_unstable/discrete/CMakeLists.txt
+++ b/gtsam_unstable/discrete/CMakeLists.txt
@@ -3,8 +3,8 @@ file(GLOB discrete_headers "*.h")
 install(FILES ${discrete_headers} DESTINATION include/gtsam_unstable/discrete)
 
 set (discrete_full_libs
-    ${gtsam-default}
-    ${gtsam_unstable-default})
+    gtsam
+    gtsam_unstable)
 
 # Exclude tests that don't work
 #set (discrete_excluded_tests 
@@ -37,6 +37,6 @@ if (GTSAM_BUILD_EXAMPLES)
 			add_custom_target(${example}.run ${EXECUTABLE_OUTPUT_PATH}${example} ${ARGN})
 		endif()
     	
-    	target_link_libraries(${example} ${gtsam-default} ${gtsam_unstable-default})
+    	target_link_libraries(${example} gtsam gtsam_unstable)
     endforeach(example)
 endif (GTSAM_BUILD_EXAMPLES)
diff --git a/gtsam_unstable/dynamics/CMakeLists.txt b/gtsam_unstable/dynamics/CMakeLists.txt
index a05c9ef26..382b2b4cf 100644
--- a/gtsam_unstable/dynamics/CMakeLists.txt
+++ b/gtsam_unstable/dynamics/CMakeLists.txt
@@ -4,8 +4,8 @@ install(FILES ${dynamics_headers} DESTINATION include/gtsam_unstable/dynamics)
 
 # Components to link tests in this subfolder against
 set (dynamics_full_libs
-    ${gtsam-default}
-    ${gtsam_unstable-default})
+    gtsam
+    gtsam_unstable)
 
 # Exclude tests that don't work
 set (dynamics_excluded_tests "")
diff --git a/gtsam_unstable/examples/CMakeLists.txt b/gtsam_unstable/examples/CMakeLists.txt
index 7af84a784..1eaa09281 100644
--- a/gtsam_unstable/examples/CMakeLists.txt
+++ b/gtsam_unstable/examples/CMakeLists.txt
@@ -18,7 +18,7 @@ foreach(example_src ${example_srcs} )
         set_target_properties(${example_bin} PROPERTIES EXCLUDE_FROM_ALL ON)
     endif()
     
-    target_link_libraries(${example_bin} ${gtsam-default} ${gtsam_unstable-default})
+    target_link_libraries(${example_bin} gtsam gtsam_unstable)
 	if(NOT MSVC)
       add_custom_target(${example_bin}.run ${EXECUTABLE_OUTPUT_PATH}${example_bin} ${ARGN})
 	endif()
diff --git a/gtsam_unstable/geometry/CMakeLists.txt b/gtsam_unstable/geometry/CMakeLists.txt
index bea2a51f0..c7ee3902f 100644
--- a/gtsam_unstable/geometry/CMakeLists.txt
+++ b/gtsam_unstable/geometry/CMakeLists.txt
@@ -4,8 +4,8 @@ install(FILES ${geometry_headers} DESTINATION include/gtsam_unstable/geometry)
 
 # Components to link tests in this subfolder against
 set (geometry_full_libs
-    ${gtsam-default}
-    ${gtsam_unstable-default})
+    gtsam
+    gtsam_unstable)
 
 # Exclude tests that don't work
 set (geometry_excluded_tests "")
diff --git a/gtsam_unstable/nonlinear/CMakeLists.txt b/gtsam_unstable/nonlinear/CMakeLists.txt
index b4f386065..daef8983c 100644
--- a/gtsam_unstable/nonlinear/CMakeLists.txt
+++ b/gtsam_unstable/nonlinear/CMakeLists.txt
@@ -4,8 +4,8 @@ install(FILES ${nonlinear_headers} DESTINATION include/gtsam_unstable/nonlinear)
 
 # Components to link tests in this subfolder against
 set (nonlinear_full_libs
-${gtsam-default}
-${gtsam_unstable-default})
+gtsam
+gtsam_unstable)
 
 # Exclude tests that don't work
 set (nonlinear_excluded_tests #"")
diff --git a/gtsam_unstable/slam/CMakeLists.txt b/gtsam_unstable/slam/CMakeLists.txt
index a0229de19..ae4784f70 100644
--- a/gtsam_unstable/slam/CMakeLists.txt
+++ b/gtsam_unstable/slam/CMakeLists.txt
@@ -9,8 +9,8 @@ install(FILES ${slam_headers} DESTINATION include/gtsam_unstable/slam)
 
 # Components to link tests in this subfolder against
 set (slam_full_libs
-    ${gtsam-default}
-    ${gtsam_unstable-default})
+    gtsam
+    gtsam_unstable)
 
 # Exclude tests that don't work
 set (slam_excluded_tests
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index da8387614..a6ae2afca 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,6 +1,6 @@
 # Assemble local libraries
 set (tests_full_libs
-    ${gtsam-default}
+    gtsam
     CppUnitLite)
 
 # exclude certain files