diff --git a/.cproject b/.cproject
index 97694da3a..2257e397d 100644
--- a/.cproject
+++ b/.cproject
@@ -468,7 +468,6 @@
 </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>
@@ -476,6 +475,7 @@
 </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>
@@ -483,7 +483,6 @@
 </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>
@@ -715,7 +714,6 @@
 </target>
 <target name="testGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
-<buildArguments/>
 <buildTarget>testGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -771,11 +769,20 @@
 </target>
 <target name="testSimulated2D.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments/>
 <buildTarget>testSimulated2D.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="timeMatrix.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments>-j2</buildArguments>
+<buildTarget>timeMatrix.run</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
 <target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-j2</buildArguments>
diff --git a/cpp/Makefile.am b/cpp/Makefile.am
index 4d9084f1e..574c1831b 100644
--- a/cpp/Makefile.am
+++ b/cpp/Makefile.am
@@ -249,13 +249,15 @@ testVSLAMConfig_LDADD = libgtsam.la
 headers += $(sources:.cpp=.h)
 
 # Timing tests
-noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph timeRot3
+noinst_PROGRAMS = timeGaussianFactor timeGaussianFactorGraph timeRot3 timeMatrix
 timeRot3_SOURCES = timeRot3.cpp
 timeRot3_LDADD = libgtsam.la
 timeGaussianFactor_SOURCES = timeGaussianFactor.cpp
 timeGaussianFactor_LDADD = libgtsam.la 
 timeGaussianFactorGraph_SOURCES = timeGaussianFactorGraph.cpp
 timeGaussianFactorGraph_LDADD = libgtsam.la
+timeMatrix_SOURCES 			  = timeMatrix.cpp 
+timeMatrix_LDADD 			  = libgtsam.la
 
 # create both dynamic and static libraries
 AM_CXXFLAGS = -I$(boost) -fPIC
diff --git a/cpp/timeMatrix.cpp b/cpp/timeMatrix.cpp
new file mode 100644
index 000000000..201d465a8
--- /dev/null
+++ b/cpp/timeMatrix.cpp
@@ -0,0 +1,44 @@
+/*
+ * @file timeMatrix.cpp
+ * @brief Performs timing and profiling for Matrix operations
+ * @author Alex Cunningham
+ */
+
+#include <iostream>
+#include <boost/progress.hpp>
+#include "Matrix.h"
+
+using namespace std;
+using namespace gtsam;
+
+int main(int argc, char ** argv) {
+	cout << "Starting Matrix::collect() Timing" << endl;
+
+	// create a large number of matrices
+	size_t n, m, p;
+	p = 100000; // number of matrices
+	n = 10;  // rows per matrix
+	m = 12;  // columns per matrix
+
+	// fill the matrices with identities
+	vector<const Matrix *> matrices;
+	for (int i=0; i<p;++i) {
+		Matrix * M = new Matrix;
+		(*M) = eye(m,n);
+		matrices.push_back(M);
+	}
+
+	// start timing
+	Matrix result;
+	{
+		boost::progress_timer t;
+		result = collect(matrices);
+	}
+
+	// delete the matrices
+	for (int i=0; i<p;++i) {
+		delete matrices[i];
+	}
+
+	return 0;
+}