diff --git a/config.h b/config.h
new file mode 100644
index 000000000..593fdb1cb
--- /dev/null
+++ b/config.h
@@ -0,0 +1,90 @@
+/* config.h.  Generated from config.h.in by configure.  */
+/* config.h.in.  Generated from configure.ac by autoheader.  */
+
+/* boost serialization flag */
+/* #undef HAVE_BOOST_SERIALIZATION */
+
+/* Define to 1 if you have the <dlfcn.h> header file. */
+#define HAVE_DLFCN_H 1
+
+/* Define to 1 if you have the <inttypes.h> header file. */
+#define HAVE_INTTYPES_H 1
+
+/* Define to 1 if you have the <memory.h> header file. */
+#define HAVE_MEMORY_H 1
+
+/* Define to 1 if you have the `pow' function. */
+#define HAVE_POW 1
+
+/* Define to 1 if you have the `sqrt' function. */
+#define HAVE_SQRT 1
+
+/* Define to 1 if stdbool.h conforms to C99. */
+#define HAVE_STDBOOL_H 1
+
+/* Define to 1 if you have the <stdint.h> header file. */
+#define HAVE_STDINT_H 1
+
+/* Define to 1 if you have the <stdlib.h> header file. */
+#define HAVE_STDLIB_H 1
+
+/* Define to 1 if you have the <strings.h> header file. */
+#define HAVE_STRINGS_H 1
+
+/* Define to 1 if you have the <string.h> header file. */
+#define HAVE_STRING_H 1
+
+/* Define to 1 if you have the <sys/stat.h> header file. */
+#define HAVE_SYS_STAT_H 1
+
+/* Define to 1 if you have the <sys/types.h> header file. */
+#define HAVE_SYS_TYPES_H 1
+
+/* Define to 1 if you have the <unistd.h> header file. */
+#define HAVE_UNISTD_H 1
+
+/* Define to 1 if the system has the type `_Bool'. */
+#define HAVE__BOOL 1
+
+/* Define to the sub-directory in which libtool stores uninstalled libraries.
+   */
+#define LT_OBJDIR ".libs/"
+
+/* Name of package */
+#define PACKAGE "gtsam"
+
+/* Define to the address where bug reports for this package should be sent. */
+#define PACKAGE_BUGREPORT "dellaert@cc.gatech.edu"
+
+/* Define to the full name of this package. */
+#define PACKAGE_NAME "gtsam"
+
+/* Define to the full name and version of this package. */
+#define PACKAGE_STRING "gtsam 0.0.0"
+
+/* Define to the one symbol short name of this package. */
+#define PACKAGE_TARNAME "gtsam"
+
+/* Define to the home page for this package. */
+#define PACKAGE_URL ""
+
+/* Define to the version of this package. */
+#define PACKAGE_VERSION "0.0.0"
+
+/* Define to 1 if you have the ANSI C header files. */
+#define STDC_HEADERS 1
+
+/* Version number of package */
+#define VERSION "0.0.0"
+
+/* Define to empty if `const' does not conform to ANSI C. */
+/* #undef const */
+
+/* Define to `__inline__' or `__inline' if that's what the C compiler
+   calls it, or to nothing if 'inline' is not supported under any name.  */
+#ifndef __cplusplus
+/* #undef inline */
+#endif
+
+/* Define to `unsigned int' if <sys/types.h> does not define. */
+/* #undef size_t */
diff --git a/cpp/Simulated2DOdometry.h b/cpp/Simulated2DOdometry.h
deleted file mode 100644
index 93aca0ce6..000000000
--- a/cpp/Simulated2DOdometry.h
+++ /dev/null
@@ -1,18 +0,0 @@
-/*
- * Simulated2DOdometry.h
- *
- * Re-created on Feb 22, 2010 for compatibility with MATLAB
- * Author: Frank Dellaert
- */
-
-#pragma once
-
-#include "simulated2D.h"
-#include "Simulated2DConfig.h"
-
-namespace gtsam {
-
-	typedef simulated2D::Odometry Simulated2DOdometry;
-
-}
-