diff --git a/.cproject b/.cproject
index 027bd68eb..575aece52 100644
--- a/.cproject
+++ b/.cproject
@@ -392,10 +392,10 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+					<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments/>
-						<buildTarget>all</buildTarget>
+						<buildTarget>tests/testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
@@ -414,14 +414,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments/>
@@ -629,14 +621,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>all</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/>
@@ -1076,14 +1060,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<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/>
@@ -1092,22 +1068,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>clean</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments/>
@@ -1116,14 +1076,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>all</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>
 						<buildArguments>-j2</buildArguments>
@@ -1304,22 +1256,6 @@
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="all" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>all</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>clean</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>
 						<buildTarget>check</buildTarget>
diff --git a/slam/simulated2D.cpp b/slam/simulated2D.cpp
index 744e1d19c..e5d48f6d7 100644
--- a/slam/simulated2D.cpp
+++ b/slam/simulated2D.cpp
@@ -11,7 +11,7 @@
 namespace gtsam {
 
 	using namespace simulated2D;
-	INSTANTIATE_LIE_CONFIG(PointKey, Point2)
+//	INSTANTIATE_LIE_CONFIG(PointKey, Point2)
 	INSTANTIATE_LIE_CONFIG(PoseKey, Point2)
 	INSTANTIATE_TUPLE_CONFIG2(PoseConfig, PointConfig)
 //	INSTANTIATE_NONLINEAR_FACTOR_GRAPH(Config)