Bug fixes and using wildfire with Dogleg

.cproject

@@ -21,7 +21,7 @@
 					<folderInfo id="cdt.managedbuild.toolchain.gnu.macosx.base.1359703544.2031210194" name="/" resourcePath="">
 						<toolChain id="cdt.managedbuild.toolchain.gnu.macosx.base.677243255" name="cdt.managedbuild.toolchain.gnu.macosx.base" superClass="cdt.managedbuild.toolchain.gnu.macosx.base">
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF;org.eclipse.cdt.core.MachO64" id="cdt.managedbuild.target.gnu.platform.macosx.base.752782918" name="Debug Platform" osList="macosx" superClass="cdt.managedbuild.target.gnu.platform.macosx.base"/>
-							<builder arguments="" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="8" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
+							<builder arguments="" buildPath="${ProjDirPath}/build" command="make" id="cdt.managedbuild.target.gnu.builder.macosx.base.319933862" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="7" superClass="cdt.managedbuild.target.gnu.builder.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.c.linker.macosx.base.457360678" name="MacOS X C Linker" superClass="cdt.managedbuild.tool.macosx.c.linker.macosx.base"/>
 							<tool id="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base.1011140787" name="MacOS X C++ Linker" superClass="cdt.managedbuild.tool.macosx.cpp.linker.macosx.base">
 								<inputType id="cdt.managedbuild.tool.macosx.cpp.linker.input.1032375444" superClass="cdt.managedbuild.tool.macosx.cpp.linker.input">
@@ -311,6 +311,14 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>testGaussianFactor.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -337,7 +345,6 @@
 			</target>
 			<target name="tests/testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -345,7 +352,6 @@
 			</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>
@@ -393,7 +399,6 @@
 			</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>
@@ -401,7 +406,6 @@
 			</target>
 			<target name="tests/testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testSymbolicFactor.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -409,7 +413,6 @@
 			</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>
@@ -425,20 +428,11 @@
 			</target>
 			<target name="tests/testBayesTree" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments/>
 				<buildTarget>tests/testBayesTree</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testGaussianFactor.run" path="linear/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>testGaussianFactor.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -465,6 +459,7 @@
 			</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>
@@ -536,6 +531,7 @@
 			</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>
@@ -543,6 +539,7 @@
 			</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>
@@ -550,6 +547,7 @@
 			</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>
@@ -557,6 +555,7 @@
 			</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>
@@ -564,6 +563,7 @@
 			</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>
@@ -633,22 +633,6 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose2.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>tests/testPose3.run</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -665,6 +649,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="tests/testPose2.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose2.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests/testPose3.run" path="build_retract/gtsam/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>tests/testPose3.run</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -689,26 +689,34 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check.nonlinear" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j2 VERBOSE=1</buildArguments>
-				<buildTarget>all</buildTarget>
+				<buildTarget>check.nonlinear</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.nonlinear" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>timing.nonlinear</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="nonlinear.testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>check</buildTarget>
+				<buildTarget>nonlinear.testValues.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="nonlinear.testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
+				<buildArguments>-j5</buildArguments>
-				<buildTarget>clean</buildTarget>
+				<buildTarget>nonlinear.testOrdering.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -761,34 +769,26 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check.nonlinear" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="all" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j2 VERBOSE=1</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>check.nonlinear</buildTarget>
+				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="timing.nonlinear" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timing.nonlinear</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="nonlinear.testValues.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="check" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>nonlinear.testValues.run</buildTarget>
+				<buildTarget>check</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="nonlinear.testOrdering.run" path="build/gtsam/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="clean" path="build_wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
+				<buildArguments>-j2</buildArguments>
-				<buildTarget>nonlinear.testOrdering.run</buildTarget>
+				<buildTarget>clean</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1139,7 +1139,6 @@
 			</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>
@@ -1619,6 +1618,7 @@
 			</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>
@@ -1658,6 +1658,7 @@
 			</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>
@@ -1665,6 +1666,7 @@
 			</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>
@@ -1936,6 +1938,7 @@
 			</target>
 			<target name="tests/testGaussianISAM2" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
+				<buildArguments/>
 				<buildTarget>tests/testGaussianISAM2</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
@@ -1957,93 +1960,6 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j2</buildArguments>
-				<buildTarget>install</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="clean" path="" 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="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="cmake" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>cmake</buildCommand>
-				<buildArguments>..</buildArguments>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>false</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="gtsam-shared" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>gtsam-shared</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="gtsam-static" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>gtsam-static</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="timing" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>timing</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="examples" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>examples</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="verbose all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>VERBOSE=1 all</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
-			<target name="verbose check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-				<buildCommand>make</buildCommand>
-				<buildArguments>-j5</buildArguments>
-				<buildTarget>VERBOSE=1 check</buildTarget>
-				<stopOnError>true</stopOnError>
-				<useDefaultCommand>true</useDefaultCommand>
-				<runAllBuilders>true</runAllBuilders>
-			</target>
 			<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
@@ -2140,23 +2056,7 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="install" path="" 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="build" 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="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
 				<buildTarget>install</buildTarget>
@@ -2164,21 +2064,85 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="clean" path="" 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="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
 				<buildTarget>all</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="cmake" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="cmake" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>cmake</buildCommand>
 				<buildArguments>..</buildArguments>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="gtsam-shared" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>gtsam-shared</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="gtsam-static" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>gtsam-static</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>timing</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="examples" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>examples</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="verbose all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>VERBOSE=1 all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="verbose check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j5</buildArguments>
+				<buildTarget>VERBOSE=1 check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="wrap.testSpirit.run" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j5</buildArguments>
@@ -2219,6 +2183,45 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check" path="build" 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="build" 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="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>install</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="cmake" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>cmake</buildCommand>
+				<buildArguments>..</buildArguments>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>false</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 		</buildTargets>
 	</storageModule>
 </cproject>

.project

@@ -23,7 +23,7 @@
 				</dictionary>
 				<dictionary>
 					<key>org.eclipse.cdt.make.core.buildArguments</key>
-					<value>-j8</value>
+					<value>-j7</value>
 				</dictionary>
 				<dictionary>
 					<key>org.eclipse.cdt.make.core.buildCommand</key>

gtsam/nonlinear/ISAM2-impl.cpp

@@ -330,13 +330,7 @@ void updateDoglegDeltas(const boost::shared_ptr<ISAM2Clique>& clique, std::vecto
     internal::writeVectorValuesSlices(RSgProd, RgProd, (*clique)->beginFrontals(), (*clique)->endFrontals());
 
     // Now solve the part of the Newton's method point for this clique (back-substitution)
-    (*clique)->solveInPlace(deltaNewton);
+    //(*clique)->solveInPlace(deltaNewton);
-
-    // If debugging, set recalculated keys to false so we can check them later
-#ifndef NDEBUG
-    BOOST_FOREACH(Index j, (*clique)->frontals()) {
-      replacedKeys[j] = false; }
-#endif
 
     varsUpdated += (*clique)->nrFrontals();
 
@@ -348,7 +342,7 @@ void updateDoglegDeltas(const boost::shared_ptr<ISAM2Clique>& clique, std::vecto
 }
 
 /* ************************************************************************* */
-size_t ISAM2::Impl::UpdateDoglegDeltas(const ISAM2& isam, std::vector<bool>& replacedKeys,
+size_t ISAM2::Impl::UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector<bool>& replacedKeys,
     Permuted<VectorValues>& deltaNewton, Permuted<VectorValues>& RgProd) {
 
   // Get gradient
@@ -358,15 +352,24 @@ size_t ISAM2::Impl::UpdateDoglegDeltas(const ISAM2& isam, std::vector<bool>& rep
   // Update variables
   size_t varsUpdated = 0;
   internal::updateDoglegDeltas(isam.root(), replacedKeys, grad, deltaNewton, RgProd, varsUpdated);
+  optimizeWildfire(isam.root(), wildfireThreshold, replacedKeys, deltaNewton);
 
-  // Make sure all were updated
+#if 0
-#ifndef NDEBUG
+  VectorValues expected = *allocateVectorValues(isam);
-  for(size_t j=0; j<replacedKeys.size(); ++j)
+  internal::optimizeInPlace<ISAM2>(isam.root(), expected);
-    assert(!replacedKeys[j]);
+  for(size_t j = 0; j<expected.size(); ++j)
-#else
+    assert(equal_with_abs_tol(expected[j], deltaNewton[j], 1e-2));
-  replacedKeys.assign(replacedKeys.size(), false);
+
+  FactorGraph<JacobianFactor> Rd_jfg(isam);
+  Errors Rg = Rd_jfg * grad;
+  double RgMagExpected = dot(Rg, Rg);
+  double RgMagActual = RgProd.container().vector().squaredNorm();
+  cout << fabs(RgMagExpected - RgMagActual) << endl;
+  assert(fabs(RgMagExpected - RgMagActual) < (1e-8 * RgMagActual + 1e-4));
 #endif
 
+  replacedKeys.assign(replacedKeys.size(), false);
+
   return varsUpdated;
 }
 

gtsam/nonlinear/ISAM2-impl.h

@@ -126,7 +126,7 @@ struct ISAM2::Impl {
 
   static size_t UpdateDelta(const boost::shared_ptr<ISAM2Clique>& root, std::vector<bool>& replacedKeys, Permuted<VectorValues>& delta, double wildfireThreshold);
 
-  static size_t UpdateDoglegDeltas(const ISAM2& isam, std::vector<bool>& replacedKeys,
+  static size_t UpdateDoglegDeltas(const ISAM2& isam, double wildfireThreshold, std::vector<bool>& replacedKeys,
       Permuted<VectorValues>& deltaNewton, Permuted<VectorValues>& RgProd);
 
 };

gtsam/nonlinear/ISAM2.cpp

@@ -242,6 +242,8 @@ boost::shared_ptr<FastSet<Index> > ISAM2::recalculate(
     toc(2,"permute global variable index");
     tic(3,"permute delta");
     delta_.permute(*colamd);
+    deltaNewton_.permute(*colamd);
+    RgProd_.permute(*colamd);
     toc(3,"permute delta");
     tic(4,"permute ordering");
     ordering_.permuteWithInverse(*colamdInverse);
@@ -623,7 +625,14 @@ void optimizeInPlace(const ISAM2& isam, VectorValues& delta) {
   // We may need to update the solution calcaulations
   if(!isam.deltaDoglegUptodate_) {
     tic(1, "UpdateDoglegDeltas");
-    ISAM2::Impl::UpdateDoglegDeltas(isam, isam.deltaReplacedMask_, isam.deltaNewton_, isam.RgProd_);
+    double wildfireThreshold = 0.0;
+    if(isam.params().optimizationParams.type() == typeid(ISAM2GaussNewtonParams))
+      wildfireThreshold = boost::get<ISAM2GaussNewtonParams>(isam.params().optimizationParams).wildfireThreshold;
+    else if(isam.params().optimizationParams.type() == typeid(ISAM2DoglegParams))
+      wildfireThreshold = boost::get<ISAM2DoglegParams>(isam.params().optimizationParams).wildfireThreshold;
+    else
+      assert(false);
+    ISAM2::Impl::UpdateDoglegDeltas(isam, wildfireThreshold, isam.deltaReplacedMask_, isam.deltaNewton_, isam.RgProd_);
     isam.deltaDoglegUptodate_ = true;
     toc(1, "UpdateDoglegDeltas");
   }
@@ -649,7 +658,14 @@ void optimizeGradientSearchInPlace(const ISAM2& isam, VectorValues& grad) {
   // We may need to update the solution calcaulations
   if(!isam.deltaDoglegUptodate_) {
     tic(1, "UpdateDoglegDeltas");
-    ISAM2::Impl::UpdateDoglegDeltas(isam, isam.deltaReplacedMask_, isam.deltaNewton_, isam.RgProd_);
+    double wildfireThreshold = 0.0;
+    if(isam.params().optimizationParams.type() == typeid(ISAM2GaussNewtonParams))
+      wildfireThreshold = boost::get<ISAM2GaussNewtonParams>(isam.params().optimizationParams).wildfireThreshold;
+    else if(isam.params().optimizationParams.type() == typeid(ISAM2DoglegParams))
+      wildfireThreshold = boost::get<ISAM2DoglegParams>(isam.params().optimizationParams).wildfireThreshold;
+    else
+      assert(false);
+    ISAM2::Impl::UpdateDoglegDeltas(isam, wildfireThreshold, isam.deltaReplacedMask_, isam.deltaNewton_, isam.RgProd_);
     isam.deltaDoglegUptodate_ = true;
     toc(1, "UpdateDoglegDeltas");
   }

gtsam/nonlinear/ISAM2.h

@@ -54,15 +54,18 @@ struct ISAM2GaussNewtonParams {
  */
 struct ISAM2DoglegParams {
   double initialDelta; ///< The initial trust region radius for Dogleg
+  double wildfireThreshold; ///< Continue updating the linear delta only when changes are above this threshold (default: 0.001)
   DoglegOptimizerImpl::TrustRegionAdaptationMode adaptationMode; ///< See description in DoglegOptimizerImpl::TrustRegionAdaptationMode
   bool verbose; ///< Whether Dogleg prints iteration and convergence information
 
   /** Specify parameters as constructor arguments */
   ISAM2DoglegParams(
-      double _initialDelta = 1.0, ///< see ISAM2DoglegParams public variables, ISAM2DoglegParams::initialDelta
+      double _initialDelta = 1.0, ///< see ISAM2DoglegParams::initialDelta
-      DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode = DoglegOptimizerImpl::SEARCH_EACH_ITERATION, ///< see ISAM2DoglegParams public variables, ISAM2DoglegParams::adaptationMode
+      double _wildfireThreshold = 0.0, ///< see ISAM2DoglegParams::wildfireThreshold
-      bool _verbose = false ///< see ISAM2DoglegParams public variables, ISAM2DoglegParams::verbose
+      DoglegOptimizerImpl::TrustRegionAdaptationMode _adaptationMode = DoglegOptimizerImpl::SEARCH_EACH_ITERATION, ///< see ISAM2DoglegParams::adaptationMode
-  ) : initialDelta(_initialDelta), adaptationMode(_adaptationMode), verbose(_verbose) {}
+      bool _verbose = false ///< see ISAM2DoglegParams::verbose
+  ) : initialDelta(_initialDelta), wildfireThreshold(_wildfireThreshold),
+  adaptationMode(_adaptationMode), verbose(_verbose) {}
 };
 
 /**