diff --git a/.cproject b/.cproject
index 4407cf507..88600176d 100644
--- a/.cproject
+++ b/.cproject
@@ -322,14 +322,6 @@
 						<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>
@@ -356,6 +348,7 @@
 					</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>
@@ -363,6 +356,7 @@
 					</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>
@@ -410,6 +404,7 @@
 					</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>
@@ -417,6 +412,7 @@
 					</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>
@@ -424,6 +420,7 @@
 					</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>
@@ -439,11 +436,20 @@
 					</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>
@@ -478,7 +484,6 @@
 					</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>
@@ -574,7 +579,6 @@
 					</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>
@@ -582,7 +586,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -590,7 +593,6 @@
 					</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>
@@ -598,7 +600,6 @@
 					</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>
@@ -606,7 +607,6 @@
 					</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>
@@ -614,7 +614,6 @@
 					</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>
@@ -732,6 +731,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>vSFMexample.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -822,6 +829,7 @@
 					</target>
 					<target name="testGaussianISAM.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -829,7 +837,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -933,6 +940,7 @@
 					</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>
@@ -1084,7 +1092,6 @@
 					</target>
 					<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testEliminationTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1108,7 +1115,6 @@
 					</target>
 					<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testConditional.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1116,6 +1122,7 @@
 					</target>
 					<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1283,7 +1290,6 @@
 					</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>
@@ -1323,7 +1329,6 @@
 					</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>
@@ -1331,7 +1336,6 @@
 					</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>
@@ -1369,6 +1373,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="all" path="build/examples" 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="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1379,7 +1391,6 @@
 					</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>
@@ -1401,6 +1412,86 @@
 						<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>-j2</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>-j2</buildArguments>
+						<buildTarget>all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>dist</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testEliminationTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testVariableIndex</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>linear/tests/testGaussianJunctionTree</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>
@@ -1497,94 +1588,6 @@
 						<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>-j2</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>-j2</buildArguments>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>dist</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testEliminationTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testVariableIndex</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1617,6 +1620,13 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 				</buildTargets>
 			</storageModule>
 		</cconfiguration>
@@ -1939,14 +1949,6 @@
 						<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>
@@ -1973,6 +1975,7 @@
 					</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>
@@ -1980,6 +1983,7 @@
 					</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>
@@ -2027,6 +2031,7 @@
 					</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>
@@ -2034,6 +2039,7 @@
 					</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>
@@ -2041,6 +2047,7 @@
 					</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>
@@ -2056,11 +2063,20 @@
 					</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>
@@ -2095,7 +2111,6 @@
 					</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>
@@ -2191,7 +2206,6 @@
 					</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>
@@ -2199,7 +2213,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -2207,7 +2220,6 @@
 					</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>
@@ -2215,7 +2227,6 @@
 					</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>
@@ -2223,7 +2234,6 @@
 					</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>
@@ -2231,7 +2241,6 @@
 					</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>
@@ -2349,6 +2358,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="vSFMexample.run" path="build/examples/vSLAMexample" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>vSFMexample.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="testVSLAMGraph" path="build/slam/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -2439,6 +2456,7 @@
 					</target>
 					<target name="testGaussianISAM.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -2446,7 +2464,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -2550,6 +2567,7 @@
 					</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>
@@ -2701,7 +2719,6 @@
 					</target>
 					<target name="tests/testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testEliminationTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -2725,7 +2742,6 @@
 					</target>
 					<target name="tests/testConditional.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testConditional.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -2733,6 +2749,7 @@
 					</target>
 					<target name="tests/testSymbolicFactorGraph.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -2900,7 +2917,6 @@
 					</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>
@@ -2940,7 +2956,6 @@
 					</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>
@@ -2948,7 +2963,6 @@
 					</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>
@@ -2986,6 +3000,14 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="all" path="build/examples" 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="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -2996,7 +3018,6 @@
 					</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>
@@ -3018,6 +3039,86 @@
 						<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>-j2</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>-j2</buildArguments>
+						<buildTarget>all</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>dist</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testEliminationTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testVariableIndex</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>inference/tests/testJunctionTree</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments>-j2</buildArguments>
+						<buildTarget>linear/tests/testGaussianJunctionTree</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>
@@ -3114,94 +3215,6 @@
 						<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>-j2</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>-j2</buildArguments>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>dist</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testEliminationTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testEliminationTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="slam/tests/testGaussianISAM2" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>slam/tests/testGaussianISAM2</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testVariableIndex" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testVariableIndex</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="inference/tests/testJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>inference/tests/testJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="linear/tests/testGaussianJunctionTree" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments>-j2</buildArguments>
-						<buildTarget>linear/tests/testGaussianJunctionTree</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -3234,6 +3247,13 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 				</buildTargets>
 			</storageModule>
 		</cconfiguration>
diff --git a/examples/vSLAMexample/Feature2D.h b/examples/vSLAMexample/Feature2D.h
index 1f878d9d2..7e3fceea0 100644
--- a/examples/vSLAMexample/Feature2D.h
+++ b/examples/vSLAMexample/Feature2D.h
@@ -12,9 +12,9 @@ public:
     int m_idLandmark;       // id of the 3D landmark that it is associated with
 public:
     Feature2D(int idCamera, int idLandmark, gtsam::Point2 p)
-            :m_idCamera(idCamera),
-            m_idLandmark(idLandmark),
-            m_p(p)
+            :m_p(p),
+            m_idCamera(idCamera),
+            m_idLandmark(idLandmark)
     {};
 
     void print(const std::string& s = "") const
diff --git a/examples/vSLAMexample/vSLAMutils.cpp b/examples/vSLAMexample/vSLAMutils.cpp
index 201541164..1f7861620 100644
--- a/examples/vSLAMexample/vSLAMutils.cpp
+++ b/examples/vSLAMexample/vSLAMutils.cpp
@@ -123,7 +123,7 @@ std::vector<Feature2D> readFeatures(int pose_id, const char* filename)
     file >> numFeatures ;
 
     std::vector<Feature2D> vFeatures_;
-    for (size_t i = 0; i < numFeatures; i++)
+    for (int i = 0; i < numFeatures; i++)
     {
         int landmark_id; double x, y;
         file >> landmark_id >> x >> y;