diff --git a/.cproject b/.cproject
index 2f25f98b7..1db021c30 100644
--- a/.cproject
+++ b/.cproject
@@ -1,4 +1,4 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?xml version="1.0" encoding="UTF-8"?>
 <?fileVersion 4.0.0?>
 
 <cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
@@ -298,22 +298,6 @@
 </storageModule>
 <storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
 <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>
-<runAllBuilders>true</runAllBuilders>
-</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>
-<runAllBuilders>true</runAllBuilders>
-</target>
 <target name="check" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
 <buildArguments>-k</buildArguments>
@@ -324,7 +308,6 @@
 </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>
@@ -340,6 +323,7 @@
 </target>
 <target name="testVSLAMFactor.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testVSLAMFactor.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -347,7 +331,6 @@
 </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>
@@ -355,6 +338,7 @@
 </target>
 <target name="testGaussianConditional.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testGaussianConditional.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -362,7 +346,6 @@
 </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>
@@ -370,7 +353,6 @@
 </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>
@@ -378,6 +360,7 @@
 </target>
 <target name="testNonlinearOptimizer.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testNonlinearOptimizer.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -385,7 +368,6 @@
 </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>
@@ -393,7 +375,6 @@
 </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>
@@ -401,6 +382,7 @@
 </target>
 <target name="testNonlinearFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testNonlinearFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -408,7 +390,6 @@
 </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>
@@ -416,6 +397,7 @@
 </target>
 <target name="testVectorConfig.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testVectorConfig.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -423,6 +405,7 @@
 </target>
 <target name="testPoint2.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testPoint2.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -430,7 +413,6 @@
 </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>
@@ -438,7 +420,6 @@
 </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>
@@ -446,7 +427,6 @@
 </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>
@@ -454,7 +434,6 @@
 </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>
@@ -462,6 +441,7 @@
 </target>
 <target name="testBayesTree.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testBayesTree.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -469,7 +449,6 @@
 </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>
@@ -477,6 +456,7 @@
 </target>
 <target name="testSymbolicFactorGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testSymbolicFactorGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>false</useDefaultCommand>
@@ -484,7 +464,6 @@
 </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>
@@ -492,7 +471,6 @@
 </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>
@@ -500,6 +478,7 @@
 </target>
 <target name="testVSLAMGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testVSLAMGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -507,6 +486,7 @@
 </target>
 <target name="testNonlinearEquality.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testNonlinearEquality.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -514,7 +494,6 @@
 </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>
@@ -522,6 +501,7 @@
 </target>
 <target name="testNonlinearConstraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testNonlinearConstraint.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -529,7 +509,6 @@
 </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>
@@ -537,7 +516,6 @@
 </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>
@@ -545,7 +523,6 @@
 </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>
@@ -553,7 +530,6 @@
 </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>
@@ -561,6 +537,7 @@
 </target>
 <target name="testControlGraph.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>testControlGraph.run</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -568,14 +545,22 @@
 </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>
 <runAllBuilders>true</runAllBuilders>
 </target>
+<target name="testPose2Constraint.run" path="cpp" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
+<buildTarget>testPose2Constraint.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></buildArguments>
 <buildTarget>install</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -583,6 +568,7 @@
 </target>
 <target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
 <buildTarget>clean</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>
@@ -590,6 +576,21 @@
 </target>
 <target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 <buildCommand>make</buildCommand>
+<buildArguments></buildArguments>
+<buildTarget>check</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
+<target name="install" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
+<buildTarget>install</buildTarget>
+<stopOnError>true</stopOnError>
+<useDefaultCommand>true</useDefaultCommand>
+<runAllBuilders>true</runAllBuilders>
+</target>
+<target name="check" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+<buildCommand>make</buildCommand>
 <buildTarget>check</buildTarget>
 <stopOnError>true</stopOnError>
 <useDefaultCommand>true</useDefaultCommand>