diff --git a/cmake/example_project/CMakeLists.txt b/cmake/example_project/CMakeLists.txt
index 8dc124b2f..8090c5974 100644
--- a/cmake/example_project/CMakeLists.txt
+++ b/cmake/example_project/CMakeLists.txt
@@ -1,173 +1,42 @@
 # This file should be used as a template for creating new projects using the CMake tools
 # This project has the following features
 #    - GTSAM linking
-#    - Boost linking
 #    - Unit tests via CppUnitLite
-#    - Automatic detection of sources and headers in subfolders
-#    - Installation of library and headers
-#    - Matlab wrap interface with within-project building
-#    - Use of GTSAM cmake macros
+#    - Scripts
 
 ###################################################################################
-# To create your own project, replace "myproject" with the actual name of your project
+# To create your own project, replace "example" with the actual name of your project
 cmake_minimum_required(VERSION 2.6)
-enable_testing()
-project(myproject CXX C)               
+project(example CXX C)
 
-# Add the cmake subfolder to the cmake module path - necessary to use macros
-set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${PROJECT_SOURCE_DIR}/cmake")
+# Include GTSAM CMake tools
+find_package(GTSAMCMakeTools)
+include(GtsamBuildTypes) # Load build type flags and default to Debug mode
+include(GtsamTesting)    # Easy functions for creating unit tests and scripts
+include(GtsamMatlabWrap) # Automatic MATLAB wrapper generation
 
 # Ensure that local folder is searched before library folders
 include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
 
-# Load build type flags and default to Debug mode
-include(GtsamBuildTypes)
-
 ###################################################################################
-# Create a list of library dependencies 
-# These will be linked with executables
-set(library_deps "")
-set(linking_mode "static")
-
 # Find GTSAM components
 find_package(GTSAM REQUIRED) # Uses installed package
-list(APPEND library_deps gtsam-${linking_mode} gtsam_unstable-${linking_mode})
-
-# Include ransac
-find_package(ransac REQUIRED) # Uses installed package
-list(APPEND library_deps ransac-${linking_mode})
-
-# Boost - same requirement as gtsam
-find_package(Boost 1.43 COMPONENTS 
-    serialization 
-    system 
-    filesystem 
-    thread 
-    date_time 
-    REQUIRED)
-list(APPEND library_deps 
-    ${Boost_SERIALIZATION_LIBRARY} 
-    ${Boost_SYSTEM_LIBRARY} 
-    ${Boost_FILESYSTEM_LIBRARY}
-    ${Boost_THREAD_LIBRARY} 
-    ${Boost_DATE_TIME_LIBRARY})
-
-include_directories(${Boost_INCLUDE_DIR} ${GTSAM_INCLUDE_DIR} ${ransac_INCLUDE_DIR})
+include_directories(${GTSAM_INCLUDE_DIR})
 
 ###################################################################################
-# List subdirs to process tests/sources
-# Each of these will be scanned for new files
-set (myproject_subdirs 
-    "."   # ensure root folder gets included
-    stuff 
-    things
-    )
-
-# loop through subdirs to install and build up source lists
-set(myproject_lib_source "")
-set(myproject_tests_source "")
-set(myproject_scripts_source "")
-foreach(subdir ${myproject_subdirs})
-    # Installing headers
-    message(STATUS "Installing ${subdir}")
-    file(GLOB sub_myproject_headers "myproject/${subdir}/*.h")
-    install(FILES ${sub_myproject_headers} DESTINATION include/myproject/${subdir})
-    
-    # add sources to main sources list
-    file(GLOB subdir_srcs "myproject/${subdir}/*.cpp")
-    list(APPEND myproject_lib_source ${subdir_srcs})
-    
-    # add tests to main tests list
-    file(GLOB subdir_test_srcs "myproject/${subdir}/tests/*.cpp")
-    list(APPEND myproject_tests_source ${subdir_test_srcs})
-    
-    # add scripts to main tests list
-    file(GLOB subdir_scripts_srcs "myproject/${subdir}/scripts/*.cpp")
-    list(APPEND myproject_scripts_source ${subdir_scripts_srcs})
-endforeach(subdir)
-
-set(myproject_version   ${myproject_VERSION_MAJOR}.${myproject_VERSION_MINOR}.${myproject_VERSION_PATCH})
-set(myproject_soversion ${myproject_VERSION_MAJOR})
-message(STATUS "GTSAM Version: ${gtsam_version}")
-message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
-
-# Build library (static and shared versions)
-# Include installed versions
-SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
-add_library(${PROJECT_NAME}-shared SHARED ${myproject_lib_source})
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES 
-    OUTPUT_NAME         ${PROJECT_NAME}
-    CLEAN_DIRECT_OUTPUT 1)
-install(TARGETS myproject-shared EXPORT myproject-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
-list(APPEND myproject_EXPORTED_TARGETS myproject-shared)
-
-add_library(${PROJECT_NAME}-static STATIC ${myproject_lib_source})
-set_target_properties(${PROJECT_NAME}-static PROPERTIES 
-    OUTPUT_NAME         ${PROJECT_NAME}
-    CLEAN_DIRECT_OUTPUT 1)
-install(TARGETS myproject-static EXPORT myproject-exports ARCHIVE DESTINATION lib)
-list(APPEND myproject_EXPORTED_TARGETS myproject-static)
-
-install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
-install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib )
-
-# Disabled tests - subtract these from the test files
-# Note the need for a full path
-set(disabled_tests 
-    "dummy"
-    #"${PROJECT_SOURCE_DIR}/myproject/geometry/tests/testCovarianceEllipse.cpp"
-)
-list(REMOVE_ITEM myproject_tests_source ${disabled_tests})
+# Build static library from common sources
+set(CONVENIENCE_LIB_NAME ${PROJECT_NAME})
+add_library(${CONVENIENCE_LIB_NAME} STATIC example/PrintExamples.h example/PrintExamples.cpp)
+target_link_libraries(${CONVENIENCE_LIB_NAME} gtsam)
 
 ###################################################################################
-# Build tests
-add_custom_target(check COMMAND ${CMAKE_CTEST_COMMAND})
-foreach(test_src_file ${myproject_tests_source})
-    get_filename_component(test_base ${test_src_file} NAME_WE)
-    message(STATUS "Adding test ${test_src_file} with base name ${test_base}" )
-    add_executable(${test_base} ${test_src_file})
-    target_link_libraries(${test_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
-    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}/${test_base})
-    add_custom_target(${test_base}.run ${test_base} ${ARGN})
-    add_dependencies(check ${test_base})
-endforeach(test_src_file)
-
-# Build scripts
-foreach(script_src_file ${myproject_scripts_source})
-    get_filename_component(script_base ${script_src_file} NAME_WE)
-    message(STATUS "Adding script ${script_src_file} with base name ${script_base}" )
-    add_executable(${script_base} ${script_src_file})
-    target_link_libraries(${script_base} ${PROJECT_NAME}-${linking_mode} ${library_deps} CppUnitLite)
-    add_custom_target(${script_base}.run ${script_base} ${ARGN})
-endforeach(script_src_file)
+# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
+gtsamAddTestsGlob("example" "tests/test*.cpp" "" "${CONVENIENCE_LIB_NAME}")
 
 ###################################################################################
-# Matlab wrapping
-include(GtsamMatlabWrap)
-set(MEX_COMMAND "mex" CACHE STRING "Command to use for executing mex (if on path, 'mex' will work)")
-set(GTSAM_BUILD_MEX_BINARY_FLAGS "" CACHE STRING "Extra flags for running Matlab MEX compilation")
-set(MYPROJECT_TOOLBOX_DIR "../matlab/myproject" CACHE PATH "Install folder for matlab toolbox - defaults to inside project")
-set(WRAP_HEADER_PATH "${GTSAM_DIR}/../../../include")
-set(MYPROJECT_TOOLBOX_FLAGS 
-    ${GTSAM_BUILD_MEX_BINARY_FLAGS} -I${PROJECT_SOURCE_DIR} -I${PROJECT_SOURCE_DIR}/myproject -I${Boost_INCLUDE_DIR} -I${MEX_INCLUDE_ROOT} -I${GTSAM_INCLUDE_DIR} -I${WRAP_HEADER_PATH} -Wl,-rpath,${CMAKE_BINARY_DIR}:${CMAKE_INSTALL_PREFIX}/lib)
-set(MYPROJECT_LIBRARY_DEPS gtsam gtsam_unstable ransac myproject)
-set(GTSAM_BUILD_MEX_BIN ON)
- 
-# Function to setup codegen, building and installation of the wrap toolbox
-# This wrap setup function assumes that the toolbox will be installed directly, 
-# with predictable matlab.h sourcing
-# params:
-#  moduleName       : the name of the module, interface file must be called moduleName.h
-#  mexFlags         : Compilation flags to be passed to the mex compiler 
-#  modulePath       : relative path to module markup header file (called moduleName.h)
-#  otherLibraries   : list of library targets this should depend on
-#  toolboxPath      : the directory in which to generate/build wrappers
-#  wrap_header_path : path to the installed wrap header  
-wrap_library_generic(myproject "${MYPROJECT_TOOLBOX_FLAGS}" "" "${MYPROJECT_LIBRARY_DEPS}" "${MYPROJECT_TOOLBOX_DIR}" "${WRAP_HEADER_PATH}")
+# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
+gtsamAddExamplesGlob("*.cpp" "" "${CONVENIENCE_LIB_NAME}")
 
 ###################################################################################
-# Create Install config and export files
-# This config file takes the place of FindXXX.cmake scripts
-include(GtsamMakeConfigFile)
-GtsamMakeConfigFile(myproject)
-export(TARGETS ${myproject_EXPORTED_TARGETS} FILE myproject-exports.cmake)
\ No newline at end of file
+# Build MATLAB wrapper
+wrap_and_install_library("example.h" "${CONVENIENCE_LIB_NAME}" "" "")
diff --git a/cmake/example_project/SayGoodbye.cpp b/cmake/example_project/SayGoodbye.cpp
new file mode 100644
index 000000000..be1165ef6
--- /dev/null
+++ b/cmake/example_project/SayGoodbye.cpp
@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     SayGoodbye.cpp
+ * @brief    Example script for example project
+ * @author   Richard Roberts
+ */
+
+#include <example/PrintExamples.h>
+
+int main(int argc, char *argv[]) {
+  example::PrintExamples().sayGoodbye();
+  return 0;
+}
diff --git a/cmake/example_project/SayHello.cpp b/cmake/example_project/SayHello.cpp
new file mode 100644
index 000000000..2da06ab32
--- /dev/null
+++ b/cmake/example_project/SayHello.cpp
@@ -0,0 +1,23 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     SayHello.cpp
+ * @brief    Example script for example project
+ * @author   Richard Roberts
+ */
+
+#include <example/PrintExamples.h>
+
+int main(int argc, char *argv[]) {
+  example::PrintExamples().sayHello();
+  return 0;
+}
diff --git a/cmake/example_project/example.h b/cmake/example_project/example.h
new file mode 100644
index 000000000..47b9a0aa2
--- /dev/null
+++ b/cmake/example_project/example.h
@@ -0,0 +1,28 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     example.h
+ * @brief    Example wrapper interface file
+ * @author   Richard Roberts
+ */
+
+// This is an interface file for automatic MATLAB wrapper generation.  See
+// gtsam.h for full documentation and more examples.
+
+namespace example {
+
+class PrintExamples {
+  void sayHello() const;
+  void sayGoodbye() const;
+};
+
+}
diff --git a/cmake/example_project/example/PrintExamples.cpp b/cmake/example_project/example/PrintExamples.cpp
new file mode 100644
index 000000000..1e9f10713
--- /dev/null
+++ b/cmake/example_project/example/PrintExamples.cpp
@@ -0,0 +1,44 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     print_examples.cpp
+ * @brief    Example library file
+ * @author   Richard Roberts
+ */
+
+#include <iostream>
+
+#include <example/PrintExamples.h>
+
+namespace example {
+
+void PrintExamples::sayHello() const {
+  std::cout << internal::getHelloString() << std::endl;
+}
+
+void PrintExamples::sayGoodbye() const {
+  std::cout << internal::getGoodbyeString() << std::endl;
+}
+
+namespace internal {
+
+std::string getHelloString() {
+  return "Hello!";
+}
+
+std::string getGoodbyeString() {
+  return "See you soon!";
+}
+
+}  // namespace internal
+
+}  // namespace example
diff --git a/cmake/example_project/example/PrintExamples.h b/cmake/example_project/example/PrintExamples.h
new file mode 100644
index 000000000..b151dfbc7
--- /dev/null
+++ b/cmake/example_project/example/PrintExamples.h
@@ -0,0 +1,41 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     print_examples.h
+ * @brief    Example library file
+ * @author   Richard Roberts
+ */
+
+#pragma once
+
+#include <string>
+
+namespace example {
+
+class PrintExamples {
+public:
+  /// Print a greeting
+  void sayHello() const;
+
+  /// Print a farewell
+  void sayGoodbye() const;
+};
+
+namespace internal {
+
+std::string getHelloString();
+
+std::string getGoodbyeString();
+
+}  // namespace internal
+
+}  // namespace example
diff --git a/cmake/example_project/tests/testExample.cpp b/cmake/example_project/tests/testExample.cpp
new file mode 100644
index 000000000..c2a5a173b
--- /dev/null
+++ b/cmake/example_project/tests/testExample.cpp
@@ -0,0 +1,43 @@
+/* ----------------------------------------------------------------------------
+
+ * GTSAM Copyright 2010, Georgia Tech Research Corporation,
+ * Atlanta, Georgia 30332-0415
+ * All Rights Reserved
+ * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
+
+ * See LICENSE for the license information
+
+ * -------------------------------------------------------------------------- */
+
+/**
+ * @file     testExample.cpp
+ * @brief    Unit tests for example
+ * @author   Richard Roberts
+ */
+
+#include <CppUnitLite/TestHarness.h>
+
+#include <gtsam/base/TestableAssertions.h>
+
+#include <example/PrintExamples.h>
+
+using namespace gtsam;
+
+TEST(Example, HelloString) {
+  const std::string expectedString = "Hello!";
+  EXPECT(assert_equal(expectedString, example::internal::getHelloString()));
+}
+
+TEST(Example, GoodbyeString) {
+  const std::string expectedString = "See you soon!";
+  EXPECT(assert_equal(expectedString, example::internal::getGoodbyeString()));
+}
+
+/* ************************************************************************* */
+int main() {
+  TestResult tr;
+  return TestRegistry::runAllTests(tr);
+}
+/* ************************************************************************* */
+
+
diff --git a/cmake/example_project_simple/CMakeLists.txt b/cmake/example_project_simple/CMakeLists.txt
deleted file mode 100644
index e8bea909c..000000000
--- a/cmake/example_project_simple/CMakeLists.txt
+++ /dev/null
@@ -1,38 +0,0 @@
-# This file should be used as a template for creating new projects using the CMake tools
-# This project has the following features
-#    - GTSAM linking
-#    - Unit tests via CppUnitLite
-#    - Scripts
-
-###################################################################################
-# To create your own project, replace "myproject" with the actual name of your project
-cmake_minimum_required(VERSION 2.6)
-enable_testing()
-project(myproject CXX C)               
-
-# Add the cmake subfolder to the cmake module path - necessary to use macros
-list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake")
-
-# Ensure that local folder is searched before library folders
-include_directories(BEFORE "${PROJECT_SOURCE_DIR}")
-
-# Load build type flags and default to Debug mode
-include(GtsamBuildTypes)
-
-###################################################################################
-# Find GTSAM components
-find_package(GTSAM REQUIRED) # Uses installed package
-include_directories(${GTSAM_INCLUDE_DIR})
-
-###################################################################################
-# Build static library from common sources
-add_library(${PROJECT_NAME} STATIC ${PROJECT_NAME}/MySourceFiles.cpp)
-target_link_libraries(${PROJECT_NAME} gtsam-shared)
-
-###################################################################################
-# Build tests (CMake tracks the dependecy to link with GTSAM through our project's static library)
-gtsam_add_subdir_tests(${PROJECT_NAME} "${PROJECT_NAME}" "${PROJECT_NAME}" "")
-
-###################################################################################
-# Build scripts (CMake tracks the dependecy to link with GTSAM through our project's static library)
-gtsam_add_executables("${PROJECT_NAME}/myScripts.cpp" "${PROJECT_NAME}" "${PROJECT_NAME}" "")