diff --git a/CMakeLists.txt b/CMakeLists.txt
index fba421444..f58596520 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -40,8 +40,6 @@ option(GTSAM_BUILD_TIMING   "Enable/Disable building of timing scripts" ON)
 option(GTSAM_BUILD_EXAMPLES "Enable/Disable building of examples"       ON)
 option(GTSAM_BUILD_WRAP     "Enable/Disable building of matlab wrap utility (necessary for matlab interface)" ON)
 option(GTSAM_USE_QUATERNIONS "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices" OFF)
-option(GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS    
-    "Enable/Disable linking tests against the convenience libraries for faster debugging" ON)
 
 # Add the Quaternion Build Flag if requested
 if (GTSAM_USE_QUATERNIONS)
@@ -53,10 +51,16 @@ endif(GTSAM_USE_QUATERNIONS)
 # FIXME: breaks generation and install of matlab toolbox
 #set(CMAKE_SKIP_INSTALL_ALL_DEPENDENCY TRUE)
 
-# Pull in tests
-enable_testing()
-include(Dart)
-include(CTest)
+# Pull in infrastructure
+if (GTSAM_BUILD_TESTS)
+    enable_testing()
+    include(Dart)
+    include(CTest)
+endif()
+
+# Use macros for creating tests/timing scripts
+set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
+include(GtsamTesting)
 
 # Enable make check (http://www.cmake.org/Wiki/CMakeEmulateMakeCheck)
 add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
@@ -71,7 +75,7 @@ include_directories(
   gtsam/3rdparty/CCOLAMD/Include
   ${CMAKE_SOURCE_DIR}
   CppUnitLite
-  ${BOOST_INCLUDE_DIR})
+  ${Boost_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
 
 # Build CppUnitLite
diff --git a/cmake/GtsamTesting.cmake b/cmake/GtsamTesting.cmake
new file mode 100644
index 000000000..f2f345f11
--- /dev/null
+++ b/cmake/GtsamTesting.cmake
@@ -0,0 +1,65 @@
+# Build macros for using tests
+
+# Collects all tests in an adjacent tests folder and builds them
+macro(gtsam_add_tests subdir libs)
+    add_custom_target(check.${subdir} COMMAND ${CMAKE_CTEST_COMMAND})
+    file(GLOB tests_srcs "tests/test*.cpp")
+    foreach(test_src ${tests_srcs})
+        get_filename_component(test_base ${test_src} NAME_WE)
+        set( test_bin ${subdir}.${test_base} )
+        message(STATUS "Adding Test ${test_bin}") 
+        add_executable(${test_bin} ${test_src})
+        add_dependencies(check.${subdir} ${test_bin})
+        add_dependencies(check ${test_bin})
+        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin} )
+        if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+            add_dependencies(${test_bin} ${libs} CppUnitLite)
+            target_link_libraries(${test_bin} ${libs} ${Boost_LIBRARIES} CppUnitLite)
+        else()
+            add_dependencies(${test_bin} gtsam-static)
+            target_link_libraries(${test_bin} ${Boost_LIBRARIES} gtsam-static CppUnitLite)
+        endif()
+        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+    endforeach(test_src)
+endmacro()
+
+# Collects all tests in an adjacent tests folder and builds them
+# This version forces the use of libs, as necessary for wrap/tests
+macro(gtsam_add_external_tests subdir libs)
+    add_custom_target(check.${subdir} COMMAND ${CMAKE_CTEST_COMMAND})
+    file(GLOB tests_srcs "tests/test*.cpp")
+    foreach(test_src ${tests_srcs})
+        get_filename_component(test_base ${test_src} NAME_WE)
+        set( test_bin ${subdir}.${test_base} )
+        message(STATUS "Adding Test ${test_bin}") 
+        add_executable(${test_bin} ${test_src})
+        add_dependencies(check.${subdir} ${test_bin})
+        add_dependencies(check ${test_bin})
+        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin} )
+        add_dependencies(${test_bin} ${libs} CppUnitLite)
+        target_link_libraries(${test_bin} ${libs} ${Boost_LIBRARIES} CppUnitLite)
+        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+    endforeach(test_src)
+endmacro()
+
+# Collects timing scripts and builds them
+macro(gtsam_add_timing subdir libs)
+    add_custom_target(timing.${subdir})
+    file(GLOB base_timing_srcs "tests/time*.cpp") 
+    foreach(time_src ${base_timing_srcs})
+        get_filename_component(time_base ${time_src} NAME_WE)
+        set( time_bin ${subdir}.${time_base} )
+        message(STATUS "Adding Timing Benchmark ${time_bin}")
+        add_executable(${time_bin} ${time_src})
+        add_dependencies(timing.${subdir} ${time_bin})
+        add_dependencies(timing ${time_bin})
+        if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+            add_dependencies(${time_bin} ${libs})
+            target_link_libraries(${time_bin} ${libs} ${Boost_LIBRARIES} CppUnitLite)
+        else()
+            add_dependencies(${time_bin} gtsam-static)
+            target_link_libraries(${time_bin} ${Boost_LIBRARIES} gtsam-static CppUnitLite)
+        endif()
+        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+    endforeach(time_src)
+endmacro()
\ No newline at end of file
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 45118d7b8..673411a58 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -15,10 +15,3 @@ foreach(eigen_dir ${eigen_dir_headers_all})
         install(FILES Eigen/Eigen/${filename} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen/Eigen)     
     endif()
 endforeach(eigen_dir)
-
-## build convenience library
-#set (3rdparty_srcs 
-# CCOLAMD/Source/ccolamd.c 
-# CCOLAMD/Source/ccolamd_global.c
-# UFconfig/UFconfig.c) 
-#add_library(ccolamd STATIC ${3rdparty_srcs}) 
\ No newline at end of file
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 71cf8448b..0ca316b36 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -20,14 +20,20 @@ set (3rdparty_srcs
  3rdparty/CCOLAMD/Source/ccolamd.c 
  3rdparty/CCOLAMD/Source/ccolamd_global.c
  3rdparty/UFconfig/UFconfig.c) 
-add_library(ccolamd STATIC ${3rdparty_srcs})
+if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+    message(STATUS "Building Convenience Library: ccolamd")
+    add_library(ccolamd STATIC ${3rdparty_srcs})
+endif()
 
 # assemble core libaries
 foreach(subdir ${gtsam_subdirs})
     # Build convenience libraries
     file(GLOB subdir_srcs "${subdir}/*.cpp")
-    add_library(${subdir} STATIC ${subdir_srcs})
     set(${subdir}_srcs ${subdir_srcs})
+    if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+        message(STATUS "Building Convenience Library: ${subdir}")
+        add_library(${subdir} STATIC ${subdir_srcs})
+    endif()
 
     # Build local library and tests
     message(STATUS "Building ${subdir}") 
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index e6818b787..bd2b5df96 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -4,40 +4,16 @@ install(FILES ${base_headers} DESTINATION include/gtsam/base)
 
 # Components to link tests in this subfolder against
 set(base_local_libs
-    CppUnitLite
     base
 )
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.base COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB base_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${base_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin base.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.base ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${base_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
+    gtsam_add_tests(base "${base_local_libs}")
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    add_custom_target(timing.base)
-    file(GLOB base_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${base_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin base.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.base ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${base_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
+    gtsam_add_timing(base "${base_local_libs}")
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/geometry/CMakeLists.txt b/gtsam/geometry/CMakeLists.txt
index 2b4635638..8f1e8fb3a 100644
--- a/gtsam/geometry/CMakeLists.txt
+++ b/gtsam/geometry/CMakeLists.txt
@@ -1,47 +1,20 @@
-# link back to base
-add_dependencies(geometry base)
-
 # Install headers
 file(GLOB geometry_headers "*.h")
 install(FILES ${geometry_headers} DESTINATION include/gtsam/geometry)
 
 # Components to link tests in this subfolder against
 set(geometry_local_libs
-   geometry
-   base
-   CppUnitLite
+    base
+    geometry
 )
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.geometry COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB geometry_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${geometry_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin geometry.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.geometry ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${geometry_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
+    gtsam_add_tests(geometry "${geometry_local_libs}")
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    add_custom_target(timing.geometry)
-    file(GLOB geometry_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${geometry_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin geometry.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.geometry ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${geometry_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
+    gtsam_add_timing(geometry "${geometry_local_libs}")
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/inference/CMakeLists.txt b/gtsam/inference/CMakeLists.txt
index 158ce706e..c7006d698 100644
--- a/gtsam/inference/CMakeLists.txt
+++ b/gtsam/inference/CMakeLists.txt
@@ -1,6 +1,3 @@
-# link back to previous convenience library
-add_dependencies(inference base)
-
 # Install headers
 file(GLOB inference_headers "*.h")
 install(FILES ${inference_headers} DESTINATION include/gtsam/inference)
@@ -11,39 +8,15 @@ set(inference_local_libs
    geometry
    base
    ccolamd
-   CppUnitLite
 )
 
 # Build tests
-if(GTSAM_BUILD_TESTS)
-    add_custom_target(check.inference COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB inference_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${inference_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin inference.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.inference ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${inference_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
+if (GTSAM_BUILD_TESTS)
+    gtsam_add_tests(inference "${inference_local_libs}")
 endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
-if(GTSAM_BUILD_TIMING)
-    add_custom_target(timing.inference)
-    file(GLOB inference_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${inference_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin inference.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.inference ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${inference_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
+if (GTSAM_BUILD_TIMING)
+    gtsam_add_timing(inference "${inference_local_libs}")
 endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/linear/CMakeLists.txt b/gtsam/linear/CMakeLists.txt
index 49438c5c9..02c300565 100644
--- a/gtsam/linear/CMakeLists.txt
+++ b/gtsam/linear/CMakeLists.txt
@@ -1,6 +1,3 @@
-# link back to base
-add_dependencies(linear inference)
-
 # Install headers
 file(GLOB linear_headers "*.h")
 install(FILES ${linear_headers} DESTINATION include/gtsam/linear)
@@ -12,38 +9,14 @@ set(linear_local_libs
    geometry
    base
    ccolamd
-   CppUnitLite
 )
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.linear COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB linear_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${linear_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin linear.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.linear ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${linear_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
-endif (GTSAM_BUILD_TESTS)
+    gtsam_add_tests(linear "${linear_local_libs}")
+endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    add_custom_target(timing.linear)
-    file(GLOB linear_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${linear_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin linear.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.linear ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${linear_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
-endif (GTSAM_BUILD_TIMING)
+    gtsam_add_timing(linear "${linear_local_libs}")
+endif(GTSAM_BUILD_TIMING)
diff --git a/gtsam/nonlinear/CMakeLists.txt b/gtsam/nonlinear/CMakeLists.txt
index 070d88da4..69459e3d4 100644
--- a/gtsam/nonlinear/CMakeLists.txt
+++ b/gtsam/nonlinear/CMakeLists.txt
@@ -1,6 +1,3 @@
-# link back to base
-add_dependencies(nonlinear linear)
-
 # Install headers
 file(GLOB nonlinear_headers "*.h")
 install(FILES ${nonlinear_headers} DESTINATION include/gtsam/nonlinear)
@@ -13,39 +10,15 @@ set(nonlinear_local_libs
    geometry
    base
    ccolamd
-   CppUnitLite
 )
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.nonlinear COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB nonlinear_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${nonlinear_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin nonlinear.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.nonlinear ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${nonlinear_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
-endif (GTSAM_BUILD_TESTS)
+    gtsam_add_tests(nonlinear "${nonlinear_local_libs}")
+endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    add_custom_target(timing.nonlinear)
-    file(GLOB nonlinear_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${nonlinear_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin nonlinear.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.nonlinear ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${nonlinear_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
-endif (GTSAM_BUILD_TIMING)
+    gtsam_add_timing(nonlinear "${nonlinear_local_libs}")
+endif(GTSAM_BUILD_TIMING)
 
diff --git a/gtsam/slam/CMakeLists.txt b/gtsam/slam/CMakeLists.txt
index 7bce4f369..6c2ee61d5 100644
--- a/gtsam/slam/CMakeLists.txt
+++ b/gtsam/slam/CMakeLists.txt
@@ -1,6 +1,3 @@
-# link back to base
-add_dependencies(slam nonlinear)
-
 # Install headers
 file(GLOB slam_headers "*.h")
 install(FILES ${slam_headers} DESTINATION include/gtsam/slam)
@@ -14,38 +11,14 @@ set(slam_local_libs
    geometry
    base
    ccolamd
-   CppUnitLite
 )
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.slam COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB slam_tests_srcs "tests/test*.cpp")
-    foreach(test_src ${slam_tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin slam.${test_base} )
-        message(STATUS "Adding Test ${test_bin}") 
-        add_executable(${test_bin} ${test_src})
-        add_dependencies(check.slam ${test_bin})
-        add_dependencies(check ${test_bin})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} ${slam_local_libs})
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
-endif (GTSAM_BUILD_TESTS)
+    gtsam_add_tests(slam "${slam_local_libs}")
+endif(GTSAM_BUILD_TESTS)
 
 # Build timing scripts
 if (GTSAM_BUILD_TIMING)
-    add_custom_target(timing.slam)
-    file(GLOB slam_timing_srcs "tests/time*.cpp") 
-    foreach(time_src ${slam_timing_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin slam.${time_base} )
-        message(STATUS "Adding Timing Benchmark ${time_bin}")
-        add_executable(${time_bin} ${time_src})
-        add_dependencies(timing.slam ${time_bin})
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} ${slam_local_libs})
-        add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
-endif (GTSAM_BUILD_TIMING)
+    gtsam_add_timing(slam "${slam_local_libs}")
+endif(GTSAM_BUILD_TIMING)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 240623a22..4ada20785 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -1,4 +1,4 @@
-if (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
+if (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
     set(convenience_libs
        slam
        nonlinear
@@ -7,15 +7,22 @@ if (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
        geometry
        base
        ccolamd)
-else (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
+else (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
     set(convenience_libs
        gtsam-static)
-endif (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
+endif (GTSAM_BUILD_CONVENIENCE_LIBRARIES)
+
+# exclude certain files
+# note the source dir on each 
+set (tests_exclude
+ #   "${CMAKE_CURRENT_SOURCE_DIR}/testPose2SLAMwSPCG.cpp"
+)
 
 # Build tests
 if (GTSAM_BUILD_TESTS)
     add_custom_target(check.tests COMMAND ${CMAKE_CTEST_COMMAND})
     file(GLOB tests_srcs "test*.cpp")
+    #list(REMOVE_ITEM tests_srcs ${tests_exclude}) #NOTE: uncomment if there are tests to exclude
     foreach(test_src ${tests_srcs})
         get_filename_component(test_base ${test_src} NAME_WE)
         set( test_bin tests.${test_base} )
@@ -33,6 +40,7 @@ endif (GTSAM_BUILD_TESTS)
 if (GTSAM_BUILD_TIMING)
     add_custom_target(timing.tests)
     file(GLOB timing_srcs "time*.cpp") 
+    #list(REMOVE_ITEM timing_srcs ${tests_exclude}) #NOTE: uncomment if there are tests to exclude
     foreach(time_src ${timing_srcs})
         get_filename_component(time_base ${time_src} NAME_WE)
         set( time_bin tests.${time_base} )
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index 6b97822d2..de89ca5ee 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -16,30 +16,10 @@ endif(GTSAM_INSTALL_WRAP)
 # Install matlab header
 install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/wrap)
 
-if (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
-    set(convenience_libs
-       base
-       )
-else (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
-    set(convenience_libs
-       gtsam-static)
-endif (GTSAM_LINK_BINARIES_AGAINST_CONVENIENCE_LIBS)
-
 # Build tests
 if (GTSAM_BUILD_TESTS)
-    add_custom_target(check.wrap COMMAND ${CMAKE_CTEST_COMMAND})
-    file(GLOB wrap_test_srcs "tests/test*.cpp")
-    add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
-    foreach(test_src ${wrap_test_srcs} )
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin wrap.${test_base} )
-        add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
-        add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        add_dependencies(check ${test_bin})
-        add_dependencies(check.wrap ${test_bin})
-        target_link_libraries(${test_bin} CppUnitLite ${convenience_libs} wrap_lib)
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
+    add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}") 
+    gtsam_add_external_tests(wrap wrap_lib)
 endif(GTSAM_BUILD_TESTS)
 
 # Wrap codegen
@@ -63,7 +43,7 @@ set(moduleName gtsam)
 
 # only support 64-bit apple
 if(CMAKE_HOST_APPLE)
-    set(mex_bin_extension_default mexmaci64)
+    set(GTSAM_MEX_BIN_EXTENSION_default mexmaci64)
 endif(CMAKE_HOST_APPLE)
 
 if(NOT CMAKE_HOST_APPLE)
@@ -79,56 +59,56 @@ if(NOT CMAKE_HOST_APPLE)
     # Check for linux machines
     if (CMAKE_HOST_UNIX)
         if (HAVE_64_BIT)
-            set(mex_bin_extension_default mexa64)
+            set(GTSAM_MEX_BIN_EXTENSION_default mexa64)
         else (HAVE_64_BIT)
-            set(mex_bin_extension_default mexglx)
+            set(GTSAM_MEX_BIN_EXTENSION_default mexglx)
         endif (HAVE_64_BIT)
     endif(CMAKE_HOST_UNIX)
     
     # Check for windows machines
     if (CMAKE_HOST_WIN32)
         if (HAVE_64_BIT)
-            set(mex_bin_extension_default mexw64)
+            set(GTSAM_MEX_BIN_EXTENSION_default mexw64)
         else (HAVE_64_BIT)
-            set(mex_bin_extension_default mexw32)
+            set(GTSAM_MEX_BIN_EXTENSION_default mexw32)
         endif (HAVE_64_BIT)
     endif(CMAKE_HOST_WIN32)
 endif(NOT CMAKE_HOST_APPLE)
 
 # Allow for setting mex extension manually
-set(mex_bin_extension ${mex_bin_extension_default} CACHE DOCSTRING "Extension for matlab mex files")
-message(STATUS "Detected Matlab mex extension: ${mex_bin_extension_default}")
-message(STATUS "Current Matlab mex extension: ${mex_bin_extension}")
+set(GTSAM_MEX_BIN_EXTENSION ${GTSAM_MEX_BIN_EXTENSION_default} CACHE DOCSTRING "Extension for matlab mex files")
+message(STATUS "Detected Matlab mex extension: ${GTSAM_MEX_BIN_EXTENSION_default}")
+message(STATUS "Current Matlab mex extension: ${GTSAM_MEX_BIN_EXTENSION}")
 
 # Actual build commands - separated by OS
 add_custom_target(wrap_gtsam ALL COMMAND 
-    ./wrap ${mex_bin_extension} ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}"
+    ./wrap ${GTSAM_MEX_BIN_EXTENSION} ${CMAKE_SOURCE_DIR} ${moduleName} ${toolbox_path} "${mexFlags}"
     DEPENDS wrap)
 
 option(GTSAM_INSTALL_MATLAB_TOOLBOX  "Enable/Disable installation of matlab toolbox"  ON)
 option(GTSAM_INSTALL_MATLAB_EXAMPLES "Enable/Disable installation of matlab examples" ON)
 option(GTSAM_INSTALL_MATLAB_TESTS    "Enable/Disable installation of matlab tests"    ON)
 
-set(toolbox_install_path ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
+set(GTSAM_TOOLBOX_INSTALL_PATH ${CMAKE_INSTALL_PREFIX}/borg/toolbox CACHE DOCSTRING "Path to install matlab toolbox")
 
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     # Primary toolbox files
-    message(STATUS "Installing Matlab Toolbox to ${toolbox_install_path}")
-    install(DIRECTORY DESTINATION ${toolbox_install_path}) # make an empty folder
+    message(STATUS "Installing Matlab Toolbox to ${GTSAM_TOOLBOX_INSTALL_PATH}")
+    install(DIRECTORY DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}) # make an empty folder
     # exploit need for trailing slash to specify a full folder, rather than just its contents to copy
-    install(DIRECTORY ${toolbox_path} DESTINATION ${toolbox_install_path})
+    install(DIRECTORY ${toolbox_path} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH})
     
     # Examples
     if (GTSAM_INSTALL_MATLAB_EXAMPLES)
         message(STATUS "Installing Matlab Toolbox Examples")
         file(GLOB matlab_examples "${CMAKE_SOURCE_DIR}/examples/matlab/*.m")
-        install(FILES ${matlab_examples} DESTINATION ${toolbox_install_path}/gtsam/examples)
+        install(FILES ${matlab_examples} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/examples)
     endif (GTSAM_INSTALL_MATLAB_EXAMPLES)
     
     # Tests
     if (GTSAM_INSTALL_MATLAB_TESTS)
         message(STATUS "Installing Matlab Toolbox Tests")
         file(GLOB matlab_tests "${CMAKE_SOURCE_DIR}/tests/matlab/*.m")
-        install(FILES ${matlab_tests} DESTINATION ${toolbox_install_path}/gtsam/tests)
+        install(FILES ${matlab_tests} DESTINATION ${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam/tests)
     endif (GTSAM_INSTALL_MATLAB_TESTS)
 endif (GTSAM_INSTALL_MATLAB_TOOLBOX)