diff --git a/.cproject b/.cproject
index 78cc6a563..61f731517 100644
--- a/.cproject
+++ b/.cproject
@@ -1874,6 +1874,22 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="wrap" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>wrap</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check.wrap" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check.wrap</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
 			<target name="tests/testDSFVector.run" path="build/gtsam/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 591f0c4bc..071be753c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,15 +23,10 @@ if(    NOT cmake_build_type_tolower STREQUAL "debug"
   message(FATAL_ERROR "Unknown build type \"${CMAKE_BUILD_TYPE}\". Allowed values are Debug, Release, RelWithDebInfo (case-insensitive).")
 endif()
 
-# Turn off function inlining when debugging
-set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -fno-inline -Wall")
-set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
-# No optimization in relwithdebinfo
-set(CMAKE_C_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall")
-set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall")
-# Eigen no debug in release mode
-set(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
-set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -DEIGEN_NO_DEBUG")
+# Add debugging flags
+set(CMAKE_CXX_FLAGS_DEBUG          "${CMAKE_CXX_FLAGS_DEBUG} -fno-inline -Wall")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-g -fno-inline -Wall -DNDEBUG")
+set(CMAKE_CXX_FLAGS_RELEASE        "${CMAKE_CXX_FLAGS_RELEASE} -DNDEBUG -Wall")
 
 # Configurable Options
 # TODO
@@ -57,17 +52,17 @@ include_directories(
   ${BOOST_INCLUDE_DIR})
 link_directories(${Boost_LIBRARY_DIRS})
 
-# Build GTSAM library
-add_subdirectory(gtsam)
-
 # Build CppUnitLite
 add_subdirectory(CppUnitLite)
 
+# Build GTSAM library
+add_subdirectory(gtsam)
+
 # Build Tests
 add_subdirectory(tests)
 
 # Build wrap
-#add_subdirectory(wrap)
+add_subdirectory(wrap)
 
 # Build examples
 add_subdirectory(examples)
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 5aa278169..234c321d3 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -28,4 +28,3 @@ foreach(time_src ${timing_srcs})
     target_link_libraries(${time_bin} gtsam-static CppUnitLite ${Boost_LIBRARIES})
     add_custom_target(${time_bin}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
 endforeach(time_src)
-
diff --git a/wrap/CMakeLists.txt b/wrap/CMakeLists.txt
index 08f9b63c0..4583ac007 100644
--- a/wrap/CMakeLists.txt
+++ b/wrap/CMakeLists.txt
@@ -3,11 +3,19 @@
 # Build the executable itself
 file(GLOB wrap_srcs "*.cpp")
 list(REMOVE_ITEM wrap_srcs wrap.cpp)
-add_library(wrapLib STATIC ${wrap_srcs})
+add_library(wrap_lib STATIC ${wrap_srcs})
 add_executable(wrap wrap.cpp)
-target_link_libraries(wrap wrapLib)
+target_link_libraries(wrap wrap_lib)
+
+# Install wrap binary
 install(TARGETS wrap DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
 
+# Install matlab header
+install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/wrap)
+
+# Build tests
+add_custom_target(check.wrap COMMAND ${CMAKE_CTEST_COMMAND})
+
 # Build tests
 file(GLOB wrap_test_srcs "tests/test*.cpp")
 add_definitions(-DTOPSRCDIR="${CMAKE_SOURCE_DIR}")
@@ -17,9 +25,7 @@ foreach(test_src ${wrap_test_srcs} )
     add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
     add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
     add_dependencies(check ${test_bin})
-    target_link_libraries(${test_bin} CppUnitLite gtsam-static wrapLib)
+    add_dependencies(check.wrap ${test_bin})
+    target_link_libraries(${test_bin} CppUnitLite gtsam-static wrap_lib)
     add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
 endforeach(test_src)
-
-# Install matlab header
-install(FILES matlab.h DESTINATION ${CMAKE_INSTALL_PREFIX}/include/wrap)