diff --git a/.cproject b/.cproject
index 7aa0b3f60..1501cc6af 100644
--- a/.cproject
+++ b/.cproject
@@ -1656,6 +1656,30 @@
 				<useDefaultCommand>true</useDefaultCommand>
 				<runAllBuilders>true</runAllBuilders>
 			</target>
+			<target name="check.base" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>check.base</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="timing.base" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>timing.base</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="base" path="build_cmake" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments>-j2</buildArguments>
+				<buildTarget>base</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 8dfd4279a..bfce10a75 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -64,10 +64,10 @@ add_subdirectory(gtsam)
 add_subdirectory(CppUnitLite)
 
 # Build Tests
-add_subdirectory(tests)
+#add_subdirectory(tests)
 
 # Build wrap
-add_subdirectory(wrap)
+#add_subdirectory(wrap)
 
 # Build examples
-add_subdirectory(examples)
+#add_subdirectory(examples)
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 4240563c1..76e027806 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -3,14 +3,20 @@
 set (gtsam_subdirs 
     3rdparty
     base 
-    geometry 
-    inference 
-    linear 
-    nonlinear 
-    slam)
+ #   geometry 
+ #   inference 
+ #   linear 
+ #   nonlinear 
+ #   slam
+ )
 
 foreach(subdir ${gtsam_subdirs})
+    # Build local library and tests
     add_subdirectory(${subdir})
+    
+    # link subfolder check to main check
+    add_dependencies(check check.${subdir})
+    add_dependencies(timing timing.${subdir})
 endforeach(subdir)
  
 #set (ccolamd_srcs 
diff --git a/gtsam/base/CMakeLists.txt b/gtsam/base/CMakeLists.txt
index 43a5c0110..8a316543e 100644
--- a/gtsam/base/CMakeLists.txt
+++ b/gtsam/base/CMakeLists.txt
@@ -1,80 +1,34 @@
-# Build full gtsam library as a single library
-# and also build tests 
-set (gtsam_subdirs 
-    base 
-    geometry 
-    inference 
-    linear 
-    nonlinear 
-    slam)
- 
-set (ccolamd_srcs 
- 3rdparty/CCOLAMD/Source/ccolamd.c 
- 3rdparty/CCOLAMD/Source/ccolamd_global.c
- 3rdparty/UFconfig/UFconfig.c) 
+# Build convenience libraries
+file(GLOB base_srcs "*.cpp")
+add_library(base STATIC ${base_srcs})
 
-# install headers from 3rdparty libraries
-add_subdirectory(3rdparty)
+# Install headers
+file(GLOB base_headers "*.h")
+install(FILES ${base_headers} DESTINATION include/gtsam/base)
 
-# Accumulate gtsam_srcs
-set(gtsam_srcs ${ccolamd_srcs})
+add_custom_target(check.base)
+add_custom_target(timing.base)
 
-# Get all sources and headers from each subdirectory
-foreach(subdir ${gtsam_subdirs})
-    message(STATUS "Building ${subdir}")
-    file(GLOB sub_gtsam_srcs "${subdir}/*.cpp")
-    list(APPEND gtsam_srcs ${sub_gtsam_srcs})
-    
-    # install headers
-    file(GLOB sub_gtsam_headers "${subdir}/*.h")
-    install(FILES ${sub_gtsam_headers} DESTINATION include/gtsam/${subdir})
-endforeach(subdir)
+# Build tests
+file(GLOB base_tests_srcs "tests/test*.cpp")
+foreach(test_src ${base_tests_srcs})
+    get_filename_component(test_base ${test_src} NAME_WE)
+    set( test_bin base_${test_base} )
+    add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
+    add_dependencies(check.base ${test_bin})
+    add_test(${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
+    target_link_libraries(${test_bin} CppUnitLite base)
+    add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
+endforeach(test_src)
 
-# build shared and static versions of the library
-add_library(${PROJECT_NAME}-static STATIC ${gtsam_srcs})
-set_target_properties(${PROJECT_NAME}-static PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
-set_target_properties(${PROJECT_NAME}-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(${PROJECT_NAME}-static PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
-install(TARGETS ${PROJECT_NAME}-static ARCHIVE DESTINATION lib)
-
-add_library(${PROJECT_NAME}-shared SHARED ${gtsam_srcs})
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES OUTPUT_NAME "${PROJECT_NAME}")
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-set_target_properties(${PROJECT_NAME}-shared PROPERTIES
- 	  VERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	  SOVERSION "${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH}"
- 	)
- 	
-install(TARGETS ${PROJECT_NAME}-shared LIBRARY DESTINATION lib )
-
-# Get all sources and headers from each 
-foreach(subdir ${gtsam_subdirs})
-    # Build tests
-    file(GLOB tests_srcs "${subdir}/tests/test*.cpp")
-    foreach(test_src ${tests_srcs})
-        get_filename_component(test_base ${test_src} NAME_WE)
-        set( test_bin ${subdir}_${test_base} )
-        add_executable(${test_bin} EXCLUDE_FROM_ALL ${test_src})
-        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-        add_dependencies(check ${test_bin})
-        add_test(${subdir}/${test_base} ${EXECUTABLE_OUTPUT_PATH}${test_bin})
-        target_link_libraries(${test_bin} CppUnitLite gtsam-static)
-        add_custom_target(${test_bin}.run ${EXECUTABLE_OUTPUT_PATH}${test_bin} ${ARGN})
-    endforeach(test_src)
-    
-    # Build timing scripts
-    file(GLOB time_srcs "${subdir}/tests/time*.cpp") 
-    foreach(time_src ${time_srcs})
-        get_filename_component(time_base ${time_src} NAME_WE)
-        set( time_bin ${time_base} )
-        add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
-        add_dependencies(${test_bin} ${PROJECT_NAME}-static)
-        add_dependencies(timing ${time_bin})
-        target_link_libraries(${time_bin} CppUnitLite gtsam-static)
-        add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
-    endforeach(time_src)
-endforeach(subdir)
+# Build timing scripts
+file(GLOB base_tests_srcs "tests/time*.cpp") 
+foreach(time_src ${time_srcs})
+    get_filename_component(time_base ${time_src} NAME_WE)
+    set( time_bin ${time_base} )
+    add_executable(${time_bin} EXCLUDE_FROM_ALL ${time_src})
+    add_dependencies(timing.base ${time_bin})
+    target_link_libraries(${time_bin} CppUnitLite base)
+    add_custom_target(${time_base}.run ${EXECUTABLE_OUTPUT_PATH}${time_bin} ${ARGN})
+endforeach(time_src)