diff --git a/.cproject b/.cproject
index 6231d2b74..6423ee51a 100644
--- a/.cproject
+++ b/.cproject
@@ -1594,10 +1594,10 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
-			<target name="testSimulated2D.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+			<target name="slam_testSimulated2D.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 				<buildCommand>make</buildCommand>
 				<buildArguments>-j2</buildArguments>
-				<buildTarget>testSimulated2D.run</buildTarget>
+				<buildTarget>slam_testSimulated2D.run</buildTarget>
 				<stopOnError>true</stopOnError>
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
@@ -1650,6 +1650,14 @@
 				<useDefaultCommand>false</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="base_testMatrix.run" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>base_testMatrix.run</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/cmake/FindCppUnitLite.cmake b/cmake/FindCppUnitLite.cmake
new file mode 100644
index 000000000..b6707e351
--- /dev/null
+++ b/cmake/FindCppUnitLite.cmake
@@ -0,0 +1,33 @@
+# This is FindCppUnitLite.cmake
+# CMake module to locate the CppUnit package
+# The following variables will be defined:
+#
+# CppUnitLite_FOUND          : TRUE if the package has been successfully found
+# CppUnitLite_INCLUDE_DIRS   : paths to CppUnitLite's INCLUDE directories
+# CppUnitLite_LIBS           : paths to CppUnitLite's libraries
+
+
+# Find include dirs
+find_path(_CppUnitLite_INCLUDE_DIR CppUnitLite/Test.h
+    PATHS ${GTSAM_ROOT} ${CMAKE_SOURCE_DIR}/dep/gtsam-0.9.2 /usr/local/include)
+
+# Find libraries
+find_library(_CppUnitLite_LIB NAMES CppUnitLite
+    HINTS ${_CppUnitLite_INCLUDE_DIR}/build/CppUnitLite  ${_CppUnitLite_INCLUDE_DIR}/CppUnitLite)
+
+set (CppUnitLite_INCLUDE_DIRS ${_CppUnitLite_INCLUDE_DIR})
+set (CppUnitLite_LIBS         ${_CppUnitLite_LIB})
+
+
+
+# handle the QUIETLY and REQUIRED arguments and set LIBXML2_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(CppUnitLite DEFAULT_MSG
+                                  _CppUnitLite_INCLUDE_DIR _CppUnitLite_LIB)
+
+mark_as_advanced(_CppUnitLite_INCLUDE_DIR _CppUnitLite_LIB )
+ 
+
+
+
diff --git a/cmake/FindGTSAM.cmake b/cmake/FindGTSAM.cmake
new file mode 100644
index 000000000..1bfd13fd7
--- /dev/null
+++ b/cmake/FindGTSAM.cmake
@@ -0,0 +1,36 @@
+# This is FindGTSAM.cmake
+# CMake module to locate the GTSAM package
+# The following variables will be defined:
+#
+# GTSAM_FOUND          : TRUE if the package has been successfully found
+# GTSAM_INCLUDE_DIRS   : paths to GTSAM's INCLUDE directories
+# GTSAM_LIBS           : paths to GTSAM's libraries
+
+
+# Find include dirs
+find_path(_gtsam_INCLUDE_DIR gtsam/inference/FactorGraph.h
+    PATHS ${GTSAM_ROOT} ${CMAKE_SOURCE_DIR}/dep/gtsam-0.9.2
+    NO_DEFAULT_PATH
+)
+
+# Find libraries
+find_library(_gtsam_LIB NAMES gtsam
+    HINTS ${_gtsam_INCLUDE_DIR}/build-debug/gtsam/.libs  ${_gtsam_INCLUDE_DIR}/build/gtsam/.libs ${_gtsam_INCLUDE_DIR}/gtsam/.libs
+    NO_DEFAULT_PATH)
+
+set (GTSAM_INCLUDE_DIRS ${_gtsam_INCLUDE_DIR} CACHE STRING "GTSAM INCLUDE directories")
+set (GTSAM_LIBS         ${_gtsam_LIB} CACHE STRING "GTSAM libraries")
+
+
+
+# handle the QUIETLY and REQUIRED arguments and set LIBXML2_FOUND to TRUE
+# if all listed variables are TRUE
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(GTSAM DEFAULT_MSG
+                                  _gtsam_INCLUDE_DIR _gtsam_LIB)
+
+mark_as_advanced(_gtsam_INCLUDE_DIR _gtsam_LIB )
+ 
+
+
+
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
index 615db98b5..67af622cd 100644
--- a/examples/CMakeLists.txt
+++ b/examples/CMakeLists.txt
@@ -8,7 +8,3 @@ foreach(example_src ${example_srcs} )
 endforeach(example_src)
 
 add_subdirectory(vSLAMexample)
-
-
-
-
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index ece7bace8..673411a58 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -7,6 +7,8 @@ install(DIRECTORY Eigen/Eigen
     DESTINATION ${CMAKE_INSTALL_PREFIX}/include/gtsam/3rdparty/Eigen
     FILES_MATCHING PATTERN "*.h")
 file(GLOB eigen_dir_headers_all "Eigen/Eigen/*")
+
+# ensure that Eigen folders without extensions get added
 foreach(eigen_dir ${eigen_dir_headers_all})
     get_filename_component(filename ${eigen_dir} NAME)
     if (NOT ((${filename} MATCHES "CMakeLists.txt") OR (${filename} MATCHES "src") OR (${filename} MATCHES ".svn")))