diff --git a/.cproject b/.cproject
index 71be9ac62..2dcea124a 100644
--- a/.cproject
+++ b/.cproject
@@ -300,6 +300,7 @@
 <buildTargets>
 <target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>install</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -307,6 +308,7 @@
 </target>
 <target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>check</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -322,6 +324,7 @@
 </target>
 <target name="testSimpleCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSimpleCamera.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -337,7 +340,6 @@
 </target>
 <target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testVSLAMFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -345,6 +347,7 @@
 </target>
 <target name="testCalibratedCamera.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testCalibratedCamera.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -352,7 +355,6 @@
 </target>
 <target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testGaussianConditional.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -360,6 +362,7 @@
 </target>
 <target name="testPose2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testPose2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -367,6 +370,7 @@
 </target>
 <target name="testRot3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testRot3.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -374,7 +378,6 @@
 </target>
 <target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testNonlinearOptimizer.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -382,6 +385,7 @@
 </target>
 <target name="testGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGaussianFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -389,6 +393,7 @@
 </target>
 <target name="testGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGaussianFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -396,7 +401,6 @@
 </target>
 <target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testNonlinearFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -404,6 +408,7 @@
 </target>
 <target name="testPose3.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testPose3.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -411,7 +416,6 @@
 </target>
 <target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testVectorConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -419,7 +423,6 @@
 </target>
 <target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testPoint2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -427,6 +430,7 @@
 </target>
 <target name="testNonlinearFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testNonlinearFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -434,6 +438,7 @@
 </target>
 <target name="timeGaussianFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>timeGaussianFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -441,6 +446,7 @@
 </target>
 <target name="timeGaussianFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>timeGaussianFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -448,6 +454,7 @@
 </target>
 <target name="testGaussianBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGaussianBayesNet.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -455,7 +462,6 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -463,6 +469,7 @@
 </target>
 <target name="testSymbolicBayesNet.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSymbolicBayesNet.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -470,7 +477,6 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -478,6 +484,7 @@
 </target>
 <target name="testVector.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testVector.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -485,6 +492,7 @@
 </target>
 <target name="testMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testMatrix.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -492,7 +500,6 @@
 </target>
 <target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testVSLAMGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -500,7 +507,6 @@
 </target>
 <target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testNonlinearEquality.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -508,6 +514,7 @@
 </target>
 <target name="testSQP.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSQP.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -515,7 +522,6 @@
 </target>
 <target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testNonlinearConstraint.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -523,6 +529,7 @@
 </target>
 <target name="testSQPOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSQPOptimizer.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -530,6 +537,7 @@
 </target>
 <target name="testVSLAMConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testVSLAMConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -537,6 +545,7 @@
 </target>
 <target name="testControlConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testControlConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -544,6 +553,7 @@
 </target>
 <target name="testControlPoint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testControlPoint.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -551,7 +561,6 @@
 </target>
 <target name="testControlGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testControlGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -559,6 +568,7 @@
 </target>
 <target name="testOrdering.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testOrdering.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -566,7 +576,6 @@
 </target>
 <target name="testPose2Constraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testPose2Constraint.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -574,6 +583,7 @@
 </target>
 <target name="testRot2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testRot2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -581,6 +591,7 @@
 </target>
 <target name="testGaussianBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testGaussianBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -588,7 +599,6 @@
 </target>
 <target name="testPose3Factor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testPose3Factor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -596,7 +606,6 @@
 </target>
 <target name="testUrbanGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testUrbanGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -604,7 +613,6 @@
 </target>
 <target name="testUrbanConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testUrbanConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -612,7 +620,6 @@
 </target>
 <target name="testUrbanMeasurement.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testUrbanMeasurement.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -620,6 +627,7 @@
 </target>
 <target name="testUrbanOdometry.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testUrbanOdometry.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -627,7 +635,6 @@
 </target>
 <target name="testIterative.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testIterative.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -635,15 +642,29 @@
 </target>
 <target name="testGaussianISAM2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testGaussianISAM2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testSubgraphPreconditioner.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments/>
+<buildTarget>testSubgraphPreconditioner.run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
+<target name="testBayesNetPreconditioner.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments/>
+<buildTarget>testBayesNetPreconditioner.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/>
 <buildTarget>install</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -651,7 +672,6 @@
 </target>
 <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>clean</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -659,7 +679,6 @@
 </target>
 <target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>check</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>