diff --git a/CMakeLists.txt b/CMakeLists.txt
index bbf4ebb53..b6e59cc57 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -59,7 +59,7 @@ option(GTSAM_BUILD_STATIC_LIBRARY        "Build a static gtsam library, instead
 option(GTSAM_USE_QUATERNIONS             "Enable/Disable using an internal Quaternion representation for rotations instead of rotation matrices. If enable, Rot3::EXPMAP is enforced by default." OFF)
 option(GTSAM_POSE3_EXPMAP 			 	 "Enable/Disable using Pose3::EXPMAP as the default mode. If disabled, Pose3::FIRST_ORDER will be used." OFF)
 option(GTSAM_ROT3_EXPMAP 			 	 "Ignore if GTSAM_USE_QUATERNIONS is OFF (Rot3::EXPMAP by default). Otherwise, enable Rot3::EXPMAP, or if disabled, use Rot3::CAYLEY." OFF)
-option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF) 
+option(GTSAM_ENABLE_CONSISTENCY_CHECKS   "Enable/Disable expensive consistency checks"       OFF)
 option(GTSAM_WITH_TBB                    "Use Intel Threaded Building Blocks (TBB) if available" ON)
 option(GTSAM_WITH_EIGEN_MKL              "Eigen will use Intel MKL if available" ON)
 option(GTSAM_WITH_EIGEN_MKL_OPENMP       "Eigen, when using Intel MKL, will also use OpenMP for multithreading if available" ON)
@@ -101,6 +101,8 @@ if(MSVC)
 		add_definitions(-DBOOST_ALL_NO_LIB)
 	  add_definitions(-DBOOST_ALL_DYN_LINK)
 	endif()
+  # Also disable certain warnings
+  add_definitions(/wd4503)
 endif()
 
 find_package(Boost 1.43 COMPONENTS serialization system filesystem thread program_options date_time regex timer chrono)
@@ -203,13 +205,13 @@ set(GTSAM_USE_SYSTEM_EIGEN OFF)
 if(GTSAM_USE_SYSTEM_EIGEN)
 	# Use generic Eigen include paths e.g. <Eigen/Core>
 	set(GTSAM_EIGEN_INCLUDE_PREFIX "")
-	
+
 	find_package(Eigen3 REQUIRED)
 	include_directories(AFTER "${EIGEN3_INCLUDE_DIR}")
 else()
 	# Use bundled Eigen include paths e.g. <gtsam/3rdparty/Eigen/Eigen/Core>
 	set(GTSAM_EIGEN_INCLUDE_PREFIX "gtsam/3rdparty/Eigen/")
-	
+
 	# Clear any variables set by FindEigen3
 	if(EIGEN3_INCLUDE_DIR)
 		set(EIGEN3_INCLUDE_DIR NOTFOUND CACHE STRING "" FORCE)
@@ -222,7 +224,6 @@ configure_file(gtsam/3rdparty/gtsam_eigen_includes.h.in gtsam/3rdparty/gtsam_eig
 # Install the configuration file for Eigen
 install(FILES ${PROJECT_BINARY_DIR}/gtsam/3rdparty/gtsam_eigen_includes.h DESTINATION include/gtsam/3rdparty)
 
-
 ###############################################################################
 # Global compile options
 
@@ -269,11 +270,11 @@ include_directories(BEFORE ${Boost_INCLUDE_DIR})
 # paths so that the compiler uses GTSAM headers in our source directory instead
 # of any previously installed GTSAM headers.
 include_directories(BEFORE
-  gtsam/3rdparty/UFconfig 
+  gtsam/3rdparty/UFconfig
   gtsam/3rdparty/CCOLAMD/Include
-  gtsam/3rdparty/metis-5.1.0/include
-  gtsam/3rdparty/metis-5.1.0/libmetis
-  gtsam/3rdparty/metis-5.1.0/GKlib
+  gtsam/3rdparty/metis/include
+  gtsam/3rdparty/metis/libmetis
+  gtsam/3rdparty/metis/GKlib
   ${PROJECT_SOURCE_DIR}
   ${PROJECT_BINARY_DIR} # So we can include generated config header files
   CppUnitLite)
@@ -329,8 +330,10 @@ endif(GTSAM_BUILD_UNSTABLE)
 
 # Install config and export files
 GtsamMakeConfigFile(GTSAM "${CMAKE_CURRENT_SOURCE_DIR}/gtsam_extra.cmake.in")
+message("GTSAM export: ${GTSAM_EXPORTED_TARGETS}")
 export(TARGETS ${GTSAM_EXPORTED_TARGETS} FILE GTSAM-exports.cmake)
 
+
 # Check for doxygen availability - optional dependency
 find_package(Doxygen)
 
diff --git a/examples/METISOrderingExample.cpp b/examples/METISOrderingExample.cpp
new file mode 100644
index 000000000..452ba523e
--- /dev/null
+++ b/examples/METISOrderingExample.cpp
@@ -0,0 +1,64 @@
+/* ----------------------------------------------------------------------------
+
+ * 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 METISOrdering.cpp
+ * @brief Simple robot motion example, with prior and two odometry measurements, using a METIS ordering
+ * @author Frank Dellaert
+ * @author Andrew Melim
+ */
+
+/**
+ * Example of a simple 2D localization example optimized using METIS ordering
+ * - For more details on the full optimization pipeline, see OdometryExample.cpp
+ */
+
+#include <gtsam/geometry/Pose2.h>
+#include <gtsam/slam/PriorFactor.h>
+#include <gtsam/slam/BetweenFactor.h>
+#include <gtsam/nonlinear/NonlinearFactorGraph.h>
+#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
+#include <gtsam/nonlinear/Marginals.h>
+#include <gtsam/nonlinear/Values.h>
+
+using namespace std;
+using namespace gtsam;
+
+int main(int argc, char** argv) {
+  NonlinearFactorGraph graph;
+
+  Pose2 priorMean(0.0, 0.0, 0.0); // prior at origin
+  noiseModel::Diagonal::shared_ptr priorNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.3, 0.3, 0.1));
+  graph.add(PriorFactor<Pose2>(1, priorMean, priorNoise));
+
+  Pose2 odometry(2.0, 0.0, 0.0);
+  noiseModel::Diagonal::shared_ptr odometryNoise = noiseModel::Diagonal::Sigmas((Vector(3) << 0.2, 0.2, 0.1));
+  graph.add(BetweenFactor<Pose2>(1, 2, odometry, odometryNoise));
+  graph.add(BetweenFactor<Pose2>(2, 3, odometry, odometryNoise));
+  graph.print("\nFactor Graph:\n"); // print
+
+  Values initial;
+  initial.insert(1, Pose2(0.5, 0.0, 0.2));
+  initial.insert(2, Pose2(2.3, 0.1, -0.2));
+  initial.insert(3, Pose2(4.1, 0.1, 0.1));
+  initial.print("\nInitial Estimate:\n"); // print
+
+  // optimize using Levenberg-Marquardt optimization
+  LevenbergMarquardtParams params;
+  // In order to specify the ordering type, we need to se the NonlinearOptimizerParameter "orderingType"
+  // By default this parameter is set to OrderingType::COLAMD
+  params.orderingType = Ordering::METIS;
+  LevenbergMarquardtOptimizer optimizer(graph, initial, params);
+  Values result = optimizer.optimize();
+  result.print("Final Result:\n");
+
+  return 0;
+}
diff --git a/examples/SolverComparer.cpp b/examples/SolverComparer.cpp
index 26abfff85..3dd978ee3 100644
--- a/examples/SolverComparer.cpp
+++ b/examples/SolverComparer.cpp
@@ -589,7 +589,7 @@ void runStats()
 {
   cout << "Gathering statistics..." << endl;
   GaussianFactorGraph linear = *datasetMeasurements.linearize(initial);
-  GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::COLAMD(linear)));
+  GaussianJunctionTree jt(GaussianEliminationTree(linear, Ordering::colamd(linear)));
   treeTraversal::ForestStatistics statistics = treeTraversal::GatherStatistics(jt);
 
   ofstream file;
diff --git a/examples/StereoVOExample_large.cpp b/examples/StereoVOExample_large.cpp
index b9ab663d9..e357745be 100644
--- a/examples/StereoVOExample_large.cpp
+++ b/examples/StereoVOExample_large.cpp
@@ -103,7 +103,9 @@ int main(int argc, char** argv){
 
   cout << "Optimizing" << endl;
   //create Levenberg-Marquardt optimizer to optimize the factor graph
-  LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate);
+  LevenbergMarquardtParams params;
+  params.orderingType = Ordering::METIS;
+  LevenbergMarquardtOptimizer optimizer = LevenbergMarquardtOptimizer(graph, initial_estimate, params);
   Values result = optimizer.optimize();
 
   cout << "Final result sample:" << endl;
diff --git a/gtsam/3rdparty/CMakeLists.txt b/gtsam/3rdparty/CMakeLists.txt
index 576da93bd..49d5a2fbb 100644
--- a/gtsam/3rdparty/CMakeLists.txt
+++ b/gtsam/3rdparty/CMakeLists.txt
@@ -18,7 +18,7 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 
 	# do the same for the unsupported eigen folder
 	file(GLOB_RECURSE  unsupported_eigen_headers "${CMAKE_CURRENT_SOURCE_DIR}/Eigen/unsupported/Eigen/*.h")
-	
+
 	file(GLOB unsupported_eigen_dir_headers_all "Eigen/unsupported/Eigen/*")
 	foreach(unsupported_eigen_dir ${unsupported_eigen_dir_headers_all})
 		get_filename_component(filename ${unsupported_eigen_dir} NAME)
@@ -36,17 +36,15 @@ if(NOT GTSAM_USE_SYSTEM_EIGEN)
 	install(DIRECTORY Eigen/Eigen
 		DESTINATION include/gtsam/3rdparty/Eigen
 		FILES_MATCHING PATTERN "*.h")
-	
+
 	install(DIRECTORY Eigen/unsupported/Eigen
 		DESTINATION include/gtsam/3rdparty/Eigen/unsupported/
 		FILES_MATCHING PATTERN "*.h")
 endif()
 
-option(GTSAM_BUILD_METIS "Build metis library" ON)
 option(GTSAM_BUILD_METIS_EXECUTABLES "Build metis library executables" OFF)
-if(GTSAM_BUILD_METIS)
-	add_subdirectory(metis-5.1.0)
-endif(GTSAM_BUILD_METIS)
+add_subdirectory(metis)
+
 ############ NOTE:  When updating GeographicLib be sure to disable building their examples
 ############        and unit tests by commenting out their lines:
 # add_subdirectory (examples)
@@ -73,3 +71,5 @@ endif()
 if(GTSAM_INSTALL_GEOGRAPHICLIB)
   add_subdirectory(GeographicLib)
 endif()
+
+set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt
deleted file mode 100644
index 66cfcba4a..000000000
--- a/gtsam/3rdparty/metis-5.1.0/libmetis/CMakeLists.txt
+++ /dev/null
@@ -1,16 +0,0 @@
-# Add this directory for internal users.
-include_directories(.)
-# Find sources.
-file(GLOB metis_sources *.c)
-# Build libmetis.
-add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
-if(UNIX)
-  target_link_libraries(metis m)
-endif()
-
-
-install(TARGETS metis
-  LIBRARY DESTINATION include/gtsam/3rdparty/metis/lib
-  RUNTIME DESTINATION include/gtsam/3rdparty/metis/lib
-  ARCHIVE DESTINATION include/gtsam/3rdparty/metis/lib)
-
diff --git a/gtsam/3rdparty/metis-5.1.0/BUILD-Windows.txt b/gtsam/3rdparty/metis/BUILD-Windows.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/BUILD-Windows.txt
rename to gtsam/3rdparty/metis/BUILD-Windows.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/BUILD.txt b/gtsam/3rdparty/metis/BUILD.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/BUILD.txt
rename to gtsam/3rdparty/metis/BUILD.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt b/gtsam/3rdparty/metis/CMakeLists.txt
similarity index 95%
rename from gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
rename to gtsam/3rdparty/metis/CMakeLists.txt
index 93c546be8..fd9c7eaf7 100644
--- a/gtsam/3rdparty/metis-5.1.0/CMakeLists.txt
+++ b/gtsam/3rdparty/metis/CMakeLists.txt
@@ -46,3 +46,6 @@ add_subdirectory("libmetis")
 if(GTSAM_BUILD_METIS_EXECUTABLES)
   add_subdirectory("programs")
 endif()
+
+set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
+
diff --git a/gtsam/3rdparty/metis-5.1.0/Changelog b/gtsam/3rdparty/metis/Changelog
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/Changelog
rename to gtsam/3rdparty/metis/Changelog
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/BUILD.txt b/gtsam/3rdparty/metis/GKlib/BUILD.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/BUILD.txt
rename to gtsam/3rdparty/metis/GKlib/BUILD.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/CMakeLists.txt b/gtsam/3rdparty/metis/GKlib/CMakeLists.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/CMakeLists.txt
rename to gtsam/3rdparty/metis/GKlib/CMakeLists.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/GKlib.h b/gtsam/3rdparty/metis/GKlib/GKlib.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/GKlib.h
rename to gtsam/3rdparty/metis/GKlib/GKlib.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/GKlibSystem.cmake b/gtsam/3rdparty/metis/GKlib/GKlibSystem.cmake
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/GKlibSystem.cmake
rename to gtsam/3rdparty/metis/GKlib/GKlibSystem.cmake
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/Makefile b/gtsam/3rdparty/metis/GKlib/Makefile
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/Makefile
rename to gtsam/3rdparty/metis/GKlib/Makefile
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/b64.c b/gtsam/3rdparty/metis/GKlib/b64.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/b64.c
rename to gtsam/3rdparty/metis/GKlib/b64.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/blas.c b/gtsam/3rdparty/metis/GKlib/blas.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/blas.c
rename to gtsam/3rdparty/metis/GKlib/blas.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/conf/check_thread_storage.c b/gtsam/3rdparty/metis/GKlib/conf/check_thread_storage.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/conf/check_thread_storage.c
rename to gtsam/3rdparty/metis/GKlib/conf/check_thread_storage.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/csr.c b/gtsam/3rdparty/metis/GKlib/csr.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/csr.c
rename to gtsam/3rdparty/metis/GKlib/csr.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/error.c b/gtsam/3rdparty/metis/GKlib/error.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/error.c
rename to gtsam/3rdparty/metis/GKlib/error.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/evaluate.c b/gtsam/3rdparty/metis/GKlib/evaluate.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/evaluate.c
rename to gtsam/3rdparty/metis/GKlib/evaluate.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/fkvkselect.c b/gtsam/3rdparty/metis/GKlib/fkvkselect.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/fkvkselect.c
rename to gtsam/3rdparty/metis/GKlib/fkvkselect.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/fs.c b/gtsam/3rdparty/metis/GKlib/fs.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/fs.c
rename to gtsam/3rdparty/metis/GKlib/fs.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/getopt.c b/gtsam/3rdparty/metis/GKlib/getopt.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/getopt.c
rename to gtsam/3rdparty/metis/GKlib/getopt.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_arch.h b/gtsam/3rdparty/metis/GKlib/gk_arch.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_arch.h
rename to gtsam/3rdparty/metis/GKlib/gk_arch.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_defs.h b/gtsam/3rdparty/metis/GKlib/gk_defs.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_defs.h
rename to gtsam/3rdparty/metis/GKlib/gk_defs.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_externs.h b/gtsam/3rdparty/metis/GKlib/gk_externs.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_externs.h
rename to gtsam/3rdparty/metis/GKlib/gk_externs.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_getopt.h b/gtsam/3rdparty/metis/GKlib/gk_getopt.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_getopt.h
rename to gtsam/3rdparty/metis/GKlib/gk_getopt.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_macros.h b/gtsam/3rdparty/metis/GKlib/gk_macros.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_macros.h
rename to gtsam/3rdparty/metis/GKlib/gk_macros.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkblas.h b/gtsam/3rdparty/metis/GKlib/gk_mkblas.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkblas.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkblas.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkmemory.h b/gtsam/3rdparty/metis/GKlib/gk_mkmemory.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkmemory.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkmemory.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkpqueue.h b/gtsam/3rdparty/metis/GKlib/gk_mkpqueue.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkpqueue.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkpqueue.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkpqueue2.h b/gtsam/3rdparty/metis/GKlib/gk_mkpqueue2.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkpqueue2.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkpqueue2.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkrandom.h b/gtsam/3rdparty/metis/GKlib/gk_mkrandom.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkrandom.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkrandom.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mksort.h b/gtsam/3rdparty/metis/GKlib/gk_mksort.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mksort.h
rename to gtsam/3rdparty/metis/GKlib/gk_mksort.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkutils.h b/gtsam/3rdparty/metis/GKlib/gk_mkutils.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_mkutils.h
rename to gtsam/3rdparty/metis/GKlib/gk_mkutils.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_proto.h b/gtsam/3rdparty/metis/GKlib/gk_proto.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_proto.h
rename to gtsam/3rdparty/metis/GKlib/gk_proto.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_struct.h b/gtsam/3rdparty/metis/GKlib/gk_struct.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_struct.h
rename to gtsam/3rdparty/metis/GKlib/gk_struct.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gk_types.h b/gtsam/3rdparty/metis/GKlib/gk_types.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gk_types.h
rename to gtsam/3rdparty/metis/GKlib/gk_types.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gkregex.c b/gtsam/3rdparty/metis/GKlib/gkregex.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gkregex.c
rename to gtsam/3rdparty/metis/GKlib/gkregex.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/gkregex.h b/gtsam/3rdparty/metis/GKlib/gkregex.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/gkregex.h
rename to gtsam/3rdparty/metis/GKlib/gkregex.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/graph.c b/gtsam/3rdparty/metis/GKlib/graph.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/graph.c
rename to gtsam/3rdparty/metis/GKlib/graph.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/htable.c b/gtsam/3rdparty/metis/GKlib/htable.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/htable.c
rename to gtsam/3rdparty/metis/GKlib/htable.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/io.c b/gtsam/3rdparty/metis/GKlib/io.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/io.c
rename to gtsam/3rdparty/metis/GKlib/io.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/itemsets.c b/gtsam/3rdparty/metis/GKlib/itemsets.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/itemsets.c
rename to gtsam/3rdparty/metis/GKlib/itemsets.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/mcore.c b/gtsam/3rdparty/metis/GKlib/mcore.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/mcore.c
rename to gtsam/3rdparty/metis/GKlib/mcore.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/memory.c b/gtsam/3rdparty/metis/GKlib/memory.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/memory.c
rename to gtsam/3rdparty/metis/GKlib/memory.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_inttypes.h b/gtsam/3rdparty/metis/GKlib/ms_inttypes.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/ms_inttypes.h
rename to gtsam/3rdparty/metis/GKlib/ms_inttypes.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stat.h b/gtsam/3rdparty/metis/GKlib/ms_stat.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/ms_stat.h
rename to gtsam/3rdparty/metis/GKlib/ms_stat.h
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h b/gtsam/3rdparty/metis/GKlib/ms_stdint.h
similarity index 77%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h
rename to gtsam/3rdparty/metis/GKlib/ms_stdint.h
index 7e200dc6f..39b8aed9d 100644
--- a/gtsam/3rdparty/metis-5.1.0/GKlib/ms_stdint.h
+++ b/gtsam/3rdparty/metis/GKlib/ms_stdint.h
@@ -1,7 +1,7 @@
 // ISO C9x  compliant stdint.h for Microsoft Visual Studio
 // Based on ISO/IEC 9899:TC2 Committee draft (May 6, 2005) WG14/N1124 
 // 
-//  Copyright (c) 2006 Alexander Chemeris
+//  Copyright (c) 2006-2013 Alexander Chemeris
 // 
 // Redistribution and use in source and binary forms, with or without
 // modification, are permitted provided that the following conditions are met:
@@ -13,8 +13,9 @@
 //      notice, this list of conditions and the following disclaimer in the
 //      documentation and/or other materials provided with the distribution.
 // 
-//   3. The name of the author may be used to endorse or promote products
-//      derived from this software without specific prior written permission.
+//   3. Neither the name of the product nor the names of its contributors may
+//      be used to endorse or promote products derived from this software
+//      without specific prior written permission.
 // 
 // THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
 // WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
@@ -40,30 +41,59 @@
 #pragma once
 #endif
 
+#if _MSC_VER >= 1600 // [
+#include <stdint.h>
+#else // ] _MSC_VER >= 1600 [
+
 #include <limits.h>
 
-// For Visual Studio 6 in C++ mode wrap <wchar.h> include with 'extern "C++" {}'
+// For Visual Studio 6 in C++ mode and for many Visual Studio versions when
+// compiling for ARM we should wrap <wchar.h> include with 'extern "C++" {}'
 // or compiler give many errors like this:
 //   error C2733: second C linkage of overloaded function 'wmemchr' not allowed
-#if (_MSC_VER < 1300) && defined(__cplusplus)
-   extern "C++" {
-#endif 
-#     include <wchar.h>
-#if (_MSC_VER < 1300) && defined(__cplusplus)
-   }
+#ifdef __cplusplus
+extern "C" {
 #endif
+#  include <wchar.h>
+#ifdef __cplusplus
+}
+#endif
+
+// Define _W64 macros to mark types changing their size, like intptr_t.
+#ifndef _W64
+#  if !defined(__midl) && (defined(_X86_) || defined(_M_IX86)) && _MSC_VER >= 1300
+#     define _W64 __w64
+#  else
+#     define _W64
+#  endif
+#endif
+
 
 // 7.18.1 Integer types
 
 // 7.18.1.1 Exact-width integer types
-typedef __int8            int8_t;
-typedef __int16           int16_t;
-typedef __int32           int32_t;
-typedef __int64           int64_t;
+
+// Visual Studio 6 and Embedded Visual C++ 4 doesn't
+// realize that, e.g. char has the same size as __int8
+// so we give up on __intX for them.
+#if (_MSC_VER < 1300)
+typedef signed char       int8_t;
+typedef signed short      int16_t;
+typedef signed int        int32_t;
+typedef unsigned char     uint8_t;
+typedef unsigned short    uint16_t;
+typedef unsigned int      uint32_t;
+#else
+typedef signed __int8     int8_t;
+typedef signed __int16    int16_t;
+typedef signed __int32    int32_t;
 typedef unsigned __int8   uint8_t;
 typedef unsigned __int16  uint16_t;
 typedef unsigned __int32  uint32_t;
-typedef unsigned __int64  uint64_t;
+#endif
+typedef signed __int64       int64_t;
+typedef unsigned __int64     uint64_t;
+
 
 // 7.18.1.2 Minimum-width integer types
 typedef int8_t    int_least8_t;
@@ -87,11 +117,11 @@ typedef uint64_t  uint_fast64_t;
 
 // 7.18.1.4 Integer types capable of holding object pointers
 #ifdef _WIN64 // [
-   typedef __int64           intptr_t;
-   typedef unsigned __int64  uintptr_t;
+typedef signed __int64    intptr_t;
+typedef unsigned __int64  uintptr_t;
 #else // _WIN64 ][
-   typedef int               intptr_t;
-   typedef unsigned int      uintptr_t;
+typedef _W64 signed int   intptr_t;
+typedef _W64 unsigned int uintptr_t;
 #endif // _WIN64 ]
 
 // 7.18.1.5 Greatest-width integer types
@@ -213,10 +243,17 @@ typedef uint64_t  uintmax_t;
 #define UINT64_C(val) val##ui64
 
 // 7.18.4.2 Macros for greatest-width integer constants
-#define INTMAX_C   INT64_C
-#define UINTMAX_C  UINT64_C
+// These #ifndef's are needed to prevent collisions with <boost/cstdint.hpp>.
+// Check out Issue 9 for the details.
+#ifndef INTMAX_C //   [
+#  define INTMAX_C   INT64_C
+#endif // INTMAX_C    ]
+#ifndef UINTMAX_C //  [
+#  define UINTMAX_C  UINT64_C
+#endif // UINTMAX_C   ]
 
 #endif // __STDC_CONSTANT_MACROS ]
 
+#endif // _MSC_VER >= 1600 ]
 
-#endif // _MSC_STDINT_H_ ]
+#endif // _MSC_STDINT_H_ ]
\ No newline at end of file
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/omp.c b/gtsam/3rdparty/metis/GKlib/omp.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/omp.c
rename to gtsam/3rdparty/metis/GKlib/omp.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/pdb.c b/gtsam/3rdparty/metis/GKlib/pdb.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/pdb.c
rename to gtsam/3rdparty/metis/GKlib/pdb.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/pqueue.c b/gtsam/3rdparty/metis/GKlib/pqueue.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/pqueue.c
rename to gtsam/3rdparty/metis/GKlib/pqueue.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/random.c b/gtsam/3rdparty/metis/GKlib/random.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/random.c
rename to gtsam/3rdparty/metis/GKlib/random.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/rw.c b/gtsam/3rdparty/metis/GKlib/rw.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/rw.c
rename to gtsam/3rdparty/metis/GKlib/rw.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/seq.c b/gtsam/3rdparty/metis/GKlib/seq.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/seq.c
rename to gtsam/3rdparty/metis/GKlib/seq.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/sort.c b/gtsam/3rdparty/metis/GKlib/sort.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/sort.c
rename to gtsam/3rdparty/metis/GKlib/sort.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/string.c b/gtsam/3rdparty/metis/GKlib/string.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/string.c
rename to gtsam/3rdparty/metis/GKlib/string.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/CMakeLists.txt b/gtsam/3rdparty/metis/GKlib/test/CMakeLists.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/CMakeLists.txt
rename to gtsam/3rdparty/metis/GKlib/test/CMakeLists.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/Makefile.in.old b/gtsam/3rdparty/metis/GKlib/test/Makefile.in.old
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/Makefile.in.old
rename to gtsam/3rdparty/metis/GKlib/test/Makefile.in.old
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/Makefile.old b/gtsam/3rdparty/metis/GKlib/test/Makefile.old
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/Makefile.old
rename to gtsam/3rdparty/metis/GKlib/test/Makefile.old
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/fis.c b/gtsam/3rdparty/metis/GKlib/test/fis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/fis.c
rename to gtsam/3rdparty/metis/GKlib/test/fis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/gkgraph.c b/gtsam/3rdparty/metis/GKlib/test/gkgraph.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/gkgraph.c
rename to gtsam/3rdparty/metis/GKlib/test/gkgraph.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/gksort.c b/gtsam/3rdparty/metis/GKlib/test/gksort.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/gksort.c
rename to gtsam/3rdparty/metis/GKlib/test/gksort.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/rw.c b/gtsam/3rdparty/metis/GKlib/test/rw.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/rw.c
rename to gtsam/3rdparty/metis/GKlib/test/rw.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/test/strings.c b/gtsam/3rdparty/metis/GKlib/test/strings.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/test/strings.c
rename to gtsam/3rdparty/metis/GKlib/test/strings.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/timers.c b/gtsam/3rdparty/metis/GKlib/timers.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/timers.c
rename to gtsam/3rdparty/metis/GKlib/timers.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/tokenizer.c b/gtsam/3rdparty/metis/GKlib/tokenizer.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/tokenizer.c
rename to gtsam/3rdparty/metis/GKlib/tokenizer.c
diff --git a/gtsam/3rdparty/metis-5.1.0/GKlib/util.c b/gtsam/3rdparty/metis/GKlib/util.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/GKlib/util.c
rename to gtsam/3rdparty/metis/GKlib/util.c
diff --git a/gtsam/3rdparty/metis-5.1.0/Install.txt b/gtsam/3rdparty/metis/Install.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/Install.txt
rename to gtsam/3rdparty/metis/Install.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/LICENSE.txt b/gtsam/3rdparty/metis/LICENSE.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/LICENSE.txt
rename to gtsam/3rdparty/metis/LICENSE.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/Makefile b/gtsam/3rdparty/metis/Makefile
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/Makefile
rename to gtsam/3rdparty/metis/Makefile
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/4elt.graph b/gtsam/3rdparty/metis/graphs/4elt.graph
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/4elt.graph
rename to gtsam/3rdparty/metis/graphs/4elt.graph
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/README b/gtsam/3rdparty/metis/graphs/README
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/README
rename to gtsam/3rdparty/metis/graphs/README
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/copter2.graph b/gtsam/3rdparty/metis/graphs/copter2.graph
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/copter2.graph
rename to gtsam/3rdparty/metis/graphs/copter2.graph
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/mdual.graph b/gtsam/3rdparty/metis/graphs/mdual.graph
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/mdual.graph
rename to gtsam/3rdparty/metis/graphs/mdual.graph
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/metis.mesh b/gtsam/3rdparty/metis/graphs/metis.mesh
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/metis.mesh
rename to gtsam/3rdparty/metis/graphs/metis.mesh
diff --git a/gtsam/3rdparty/metis-5.1.0/graphs/test.mgraph b/gtsam/3rdparty/metis/graphs/test.mgraph
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/graphs/test.mgraph
rename to gtsam/3rdparty/metis/graphs/test.mgraph
diff --git a/gtsam/3rdparty/metis-5.1.0/include/CMakeLists.txt b/gtsam/3rdparty/metis/include/CMakeLists.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/include/CMakeLists.txt
rename to gtsam/3rdparty/metis/include/CMakeLists.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/include/metis.h b/gtsam/3rdparty/metis/include/metis.h
similarity index 98%
rename from gtsam/3rdparty/metis-5.1.0/include/metis.h
rename to gtsam/3rdparty/metis/include/metis.h
index dc5406ae5..2866a946b 100644
--- a/gtsam/3rdparty/metis-5.1.0/include/metis.h
+++ b/gtsam/3rdparty/metis/include/metis.h
@@ -65,17 +65,29 @@
 #ifndef _GKLIB_H_
 #ifdef COMPILER_MSC
 #include <limits.h>
-
 typedef __int32 int32_t;
 typedef __int64 int64_t;
 #define PRId32       "I32d"
 #define PRId64       "I64d"
 #define SCNd32       "ld"
 #define SCNd64       "I64d"
+
+#ifndef INT32_MIN
 #define INT32_MIN    ((int32_t)_I32_MIN)
+#endif
+
+#ifndef INT32_MAX
 #define INT32_MAX    _I32_MAX
+#endif
+
+#ifndef INT64_MIN
 #define INT64_MIN    ((int64_t)_I64_MIN)
+#endif
+
+#ifndef INT64_MAX
 #define INT64_MAX    _I64_MAX
+#endif
+
 #else
 #include <inttypes.h>
 #endif
diff --git a/gtsam/3rdparty/metis/libmetis/CMakeLists.txt b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
new file mode 100644
index 000000000..ea3dd0298
--- /dev/null
+++ b/gtsam/3rdparty/metis/libmetis/CMakeLists.txt
@@ -0,0 +1,19 @@
+# Add this directory for internal users.
+include_directories(.)
+# Find sources.
+file(GLOB metis_sources *.c)
+# Build libmetis.
+add_library(metis ${METIS_LIBRARY_TYPE} ${GKlib_sources} ${metis_sources})
+if(UNIX)
+  target_link_libraries(metis m)
+endif()
+
+if(WIN32)
+		set_target_properties(metis PROPERTIES
+			PREFIX ""
+			RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/../../../bin")
+endif()
+
+install(TARGETS metis EXPORT GTSAM-exports LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin)
+list(APPEND GTSAM_EXPORTED_TARGETS metis)
+set(GTSAM_EXPORTED_TARGETS "${GTSAM_EXPORTED_TARGETS}" PARENT_SCOPE)
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/auxapi.c b/gtsam/3rdparty/metis/libmetis/auxapi.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/auxapi.c
rename to gtsam/3rdparty/metis/libmetis/auxapi.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/balance.c b/gtsam/3rdparty/metis/libmetis/balance.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/balance.c
rename to gtsam/3rdparty/metis/libmetis/balance.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/bucketsort.c b/gtsam/3rdparty/metis/libmetis/bucketsort.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/bucketsort.c
rename to gtsam/3rdparty/metis/libmetis/bucketsort.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/checkgraph.c b/gtsam/3rdparty/metis/libmetis/checkgraph.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/checkgraph.c
rename to gtsam/3rdparty/metis/libmetis/checkgraph.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/coarsen.c b/gtsam/3rdparty/metis/libmetis/coarsen.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/coarsen.c
rename to gtsam/3rdparty/metis/libmetis/coarsen.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/compress.c b/gtsam/3rdparty/metis/libmetis/compress.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/compress.c
rename to gtsam/3rdparty/metis/libmetis/compress.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/contig.c b/gtsam/3rdparty/metis/libmetis/contig.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/contig.c
rename to gtsam/3rdparty/metis/libmetis/contig.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/debug.c b/gtsam/3rdparty/metis/libmetis/debug.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/debug.c
rename to gtsam/3rdparty/metis/libmetis/debug.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/defs.h b/gtsam/3rdparty/metis/libmetis/defs.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/defs.h
rename to gtsam/3rdparty/metis/libmetis/defs.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/fm.c b/gtsam/3rdparty/metis/libmetis/fm.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/fm.c
rename to gtsam/3rdparty/metis/libmetis/fm.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/fortran.c b/gtsam/3rdparty/metis/libmetis/fortran.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/fortran.c
rename to gtsam/3rdparty/metis/libmetis/fortran.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/frename.c b/gtsam/3rdparty/metis/libmetis/frename.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/frename.c
rename to gtsam/3rdparty/metis/libmetis/frename.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/gklib.c b/gtsam/3rdparty/metis/libmetis/gklib.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/gklib.c
rename to gtsam/3rdparty/metis/libmetis/gklib.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/gklib_defs.h b/gtsam/3rdparty/metis/libmetis/gklib_defs.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/gklib_defs.h
rename to gtsam/3rdparty/metis/libmetis/gklib_defs.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/gklib_rename.h b/gtsam/3rdparty/metis/libmetis/gklib_rename.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/gklib_rename.h
rename to gtsam/3rdparty/metis/libmetis/gklib_rename.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/graph.c b/gtsam/3rdparty/metis/libmetis/graph.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/graph.c
rename to gtsam/3rdparty/metis/libmetis/graph.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/initpart.c b/gtsam/3rdparty/metis/libmetis/initpart.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/initpart.c
rename to gtsam/3rdparty/metis/libmetis/initpart.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/kmetis.c b/gtsam/3rdparty/metis/libmetis/kmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/kmetis.c
rename to gtsam/3rdparty/metis/libmetis/kmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/kwayfm.c b/gtsam/3rdparty/metis/libmetis/kwayfm.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/kwayfm.c
rename to gtsam/3rdparty/metis/libmetis/kwayfm.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/kwayrefine.c b/gtsam/3rdparty/metis/libmetis/kwayrefine.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/kwayrefine.c
rename to gtsam/3rdparty/metis/libmetis/kwayrefine.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/macros.h b/gtsam/3rdparty/metis/libmetis/macros.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/macros.h
rename to gtsam/3rdparty/metis/libmetis/macros.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/mcutil.c b/gtsam/3rdparty/metis/libmetis/mcutil.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/mcutil.c
rename to gtsam/3rdparty/metis/libmetis/mcutil.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/mesh.c b/gtsam/3rdparty/metis/libmetis/mesh.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/mesh.c
rename to gtsam/3rdparty/metis/libmetis/mesh.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/meshpart.c b/gtsam/3rdparty/metis/libmetis/meshpart.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/meshpart.c
rename to gtsam/3rdparty/metis/libmetis/meshpart.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/metislib.h b/gtsam/3rdparty/metis/libmetis/metislib.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/metislib.h
rename to gtsam/3rdparty/metis/libmetis/metislib.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/minconn.c b/gtsam/3rdparty/metis/libmetis/minconn.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/minconn.c
rename to gtsam/3rdparty/metis/libmetis/minconn.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/mincover.c b/gtsam/3rdparty/metis/libmetis/mincover.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/mincover.c
rename to gtsam/3rdparty/metis/libmetis/mincover.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/mmd.c b/gtsam/3rdparty/metis/libmetis/mmd.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/mmd.c
rename to gtsam/3rdparty/metis/libmetis/mmd.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/ometis.c b/gtsam/3rdparty/metis/libmetis/ometis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/ometis.c
rename to gtsam/3rdparty/metis/libmetis/ometis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/options.c b/gtsam/3rdparty/metis/libmetis/options.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/options.c
rename to gtsam/3rdparty/metis/libmetis/options.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/parmetis.c b/gtsam/3rdparty/metis/libmetis/parmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/parmetis.c
rename to gtsam/3rdparty/metis/libmetis/parmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/pmetis.c b/gtsam/3rdparty/metis/libmetis/pmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/pmetis.c
rename to gtsam/3rdparty/metis/libmetis/pmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/proto.h b/gtsam/3rdparty/metis/libmetis/proto.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/proto.h
rename to gtsam/3rdparty/metis/libmetis/proto.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/refine.c b/gtsam/3rdparty/metis/libmetis/refine.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/refine.c
rename to gtsam/3rdparty/metis/libmetis/refine.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/rename.h b/gtsam/3rdparty/metis/libmetis/rename.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/rename.h
rename to gtsam/3rdparty/metis/libmetis/rename.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/separator.c b/gtsam/3rdparty/metis/libmetis/separator.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/separator.c
rename to gtsam/3rdparty/metis/libmetis/separator.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/sfm.c b/gtsam/3rdparty/metis/libmetis/sfm.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/sfm.c
rename to gtsam/3rdparty/metis/libmetis/sfm.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/srefine.c b/gtsam/3rdparty/metis/libmetis/srefine.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/srefine.c
rename to gtsam/3rdparty/metis/libmetis/srefine.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/stat.c b/gtsam/3rdparty/metis/libmetis/stat.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/stat.c
rename to gtsam/3rdparty/metis/libmetis/stat.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/stdheaders.h b/gtsam/3rdparty/metis/libmetis/stdheaders.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/stdheaders.h
rename to gtsam/3rdparty/metis/libmetis/stdheaders.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/struct.h b/gtsam/3rdparty/metis/libmetis/struct.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/struct.h
rename to gtsam/3rdparty/metis/libmetis/struct.h
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/timing.c b/gtsam/3rdparty/metis/libmetis/timing.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/timing.c
rename to gtsam/3rdparty/metis/libmetis/timing.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/util.c b/gtsam/3rdparty/metis/libmetis/util.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/util.c
rename to gtsam/3rdparty/metis/libmetis/util.c
diff --git a/gtsam/3rdparty/metis-5.1.0/libmetis/wspace.c b/gtsam/3rdparty/metis/libmetis/wspace.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/libmetis/wspace.c
rename to gtsam/3rdparty/metis/libmetis/wspace.c
diff --git a/gtsam/3rdparty/metis-5.1.0/manual/manual.pdf b/gtsam/3rdparty/metis/manual/manual.pdf
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/manual/manual.pdf
rename to gtsam/3rdparty/metis/manual/manual.pdf
diff --git a/gtsam/3rdparty/metis/metis.h b/gtsam/3rdparty/metis/metis.h
new file mode 100644
index 000000000..a1ba08684
--- /dev/null
+++ b/gtsam/3rdparty/metis/metis.h
@@ -0,0 +1,13 @@
+/*
+ * metis.h
+ *  Dummy header, not installed!
+ *  Created on: Nov 24, 2014
+ *      Author: cbeall3
+ */
+
+#ifndef GTSAM_3RDPARTY_METIS_METIS_H_
+#define GTSAM_3RDPARTY_METIS_METIS_H_
+
+#include <gtsam/3rdparty/metis/include/metis.h>
+
+#endif /* GTSAM_3RDPARTY_METIS_METIS_H_ */
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/CMakeLists.txt b/gtsam/3rdparty/metis/programs/CMakeLists.txt
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/CMakeLists.txt
rename to gtsam/3rdparty/metis/programs/CMakeLists.txt
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/cmdline_gpmetis.c b/gtsam/3rdparty/metis/programs/cmdline_gpmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/cmdline_gpmetis.c
rename to gtsam/3rdparty/metis/programs/cmdline_gpmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/cmdline_m2gmetis.c b/gtsam/3rdparty/metis/programs/cmdline_m2gmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/cmdline_m2gmetis.c
rename to gtsam/3rdparty/metis/programs/cmdline_m2gmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/cmdline_mpmetis.c b/gtsam/3rdparty/metis/programs/cmdline_mpmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/cmdline_mpmetis.c
rename to gtsam/3rdparty/metis/programs/cmdline_mpmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/cmdline_ndmetis.c b/gtsam/3rdparty/metis/programs/cmdline_ndmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/cmdline_ndmetis.c
rename to gtsam/3rdparty/metis/programs/cmdline_ndmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/cmpfillin.c b/gtsam/3rdparty/metis/programs/cmpfillin.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/cmpfillin.c
rename to gtsam/3rdparty/metis/programs/cmpfillin.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/defs.h b/gtsam/3rdparty/metis/programs/defs.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/defs.h
rename to gtsam/3rdparty/metis/programs/defs.h
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/gpmetis.c b/gtsam/3rdparty/metis/programs/gpmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/gpmetis.c
rename to gtsam/3rdparty/metis/programs/gpmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/graphchk.c b/gtsam/3rdparty/metis/programs/graphchk.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/graphchk.c
rename to gtsam/3rdparty/metis/programs/graphchk.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/io.c b/gtsam/3rdparty/metis/programs/io.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/io.c
rename to gtsam/3rdparty/metis/programs/io.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/m2gmetis.c b/gtsam/3rdparty/metis/programs/m2gmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/m2gmetis.c
rename to gtsam/3rdparty/metis/programs/m2gmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/metisbin.h b/gtsam/3rdparty/metis/programs/metisbin.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/metisbin.h
rename to gtsam/3rdparty/metis/programs/metisbin.h
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/mpmetis.c b/gtsam/3rdparty/metis/programs/mpmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/mpmetis.c
rename to gtsam/3rdparty/metis/programs/mpmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/ndmetis.c b/gtsam/3rdparty/metis/programs/ndmetis.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/ndmetis.c
rename to gtsam/3rdparty/metis/programs/ndmetis.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/proto.h b/gtsam/3rdparty/metis/programs/proto.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/proto.h
rename to gtsam/3rdparty/metis/programs/proto.h
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/smbfactor.c b/gtsam/3rdparty/metis/programs/smbfactor.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/smbfactor.c
rename to gtsam/3rdparty/metis/programs/smbfactor.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/stat.c b/gtsam/3rdparty/metis/programs/stat.c
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/stat.c
rename to gtsam/3rdparty/metis/programs/stat.c
diff --git a/gtsam/3rdparty/metis-5.1.0/programs/struct.h b/gtsam/3rdparty/metis/programs/struct.h
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/programs/struct.h
rename to gtsam/3rdparty/metis/programs/struct.h
diff --git a/gtsam/3rdparty/metis-5.1.0/vsgen.bat b/gtsam/3rdparty/metis/vsgen.bat
similarity index 100%
rename from gtsam/3rdparty/metis-5.1.0/vsgen.bat
rename to gtsam/3rdparty/metis/vsgen.bat
diff --git a/gtsam/CMakeLists.txt b/gtsam/CMakeLists.txt
index 9fac3b00b..b58a5b4b8 100644
--- a/gtsam/CMakeLists.txt
+++ b/gtsam/CMakeLists.txt
@@ -1,28 +1,27 @@
 # We split the library in to separate subfolders, each containing
 # tests, timing, and an optional convenience library.
 # The following variable is the master list of subdirs to add
-set (gtsam_subdirs 
-    base 
-    geometry 
-    inference 
-	symbolic 
-    discrete 
-    linear 
-    nonlinear 
+set (gtsam_subdirs
+    base
+    geometry
+    inference
+    symbolic
+    discrete
+    linear
+    nonlinear
     slam
-	navigation
+	  navigation
 )
 
 set(gtsam_srcs)
 
 # Build 3rdparty separately
-message(STATUS "Building 3rdparty") 
+message(STATUS "Building 3rdparty")
 add_subdirectory(3rdparty)
 
-# build convenience library
-set (3rdparty_srcs 
+set (3rdparty_srcs
  ${eigen_headers} # Set by 3rdparty/CMakeLists.txt
- ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c 
+ ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd.c
  ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/CCOLAMD/Source/ccolamd_global.c
  ${CMAKE_CURRENT_SOURCE_DIR}/3rdparty/UFconfig/UFconfig.c)
 gtsam_assign_source_folders("${3rdparty_srcs}") # Create MSVC structure
@@ -37,7 +36,7 @@ set (excluded_sources #"")
 set (excluded_headers #"")
     "${CMAKE_CURRENT_SOURCE_DIR}/slam/serialization.h"
 )
-    
+
 if(GTSAM_USE_QUATERNIONS)
     set(excluded_sources ${excluded_sources} "${CMAKE_CURRENT_SOURCE_DIR}/geometry/Rot3M.cpp")
 else()
@@ -59,10 +58,10 @@ foreach(subdir ${gtsam_subdirs})
     set(${subdir}_srcs ${subdir_srcs})
 
     # Build local library and tests
-    message(STATUS "Building ${subdir}") 
+    message(STATUS "Building ${subdir}")
     add_subdirectory(${subdir})
 endforeach(subdir)
- 
+
 # To add additional sources to gtsam when building the full library (static or shared)
 # Add the subfolder with _srcs appended to the end to this list
 set(gtsam_srcs
@@ -70,15 +69,15 @@ set(gtsam_srcs
     ${base_srcs}
     ${geometry_srcs}
     ${inference_srcs}
-	${symbolic_srcs}
+    ${symbolic_srcs}
     ${discrete_srcs}
     ${linear_srcs}
     ${nonlinear_srcs}
     ${slam_srcs}
-	${navigation_srcs}
-	${gtsam_core_headers}
+	  ${navigation_srcs}
+	  ${gtsam_core_headers}
 )
-	
+
 # Generate and install config and dllexport files
 configure_file(config.h.in config.h)
 set(library_name GTSAM) # For substitution in dllexport.h.in
@@ -86,18 +85,22 @@ configure_file("${PROJECT_SOURCE_DIR}/cmake/dllexport.h.in" "dllexport.h")
 list(APPEND gtsam_srcs "${PROJECT_BINARY_DIR}/gtsam/config.h" "${PROJECT_BINARY_DIR}/gtsam/dllexport.h")
 install(FILES "${PROJECT_BINARY_DIR}/gtsam/config.h" "${PROJECT_BINARY_DIR}/gtsam/dllexport.h" DESTINATION include/gtsam)
 
+list(APPEND GTSAM_ADDITIONAL_LIBRARIES metis)
+
 # Versions
 set(gtsam_version   ${GTSAM_VERSION_MAJOR}.${GTSAM_VERSION_MINOR}.${GTSAM_VERSION_PATCH})
 set(gtsam_soversion ${GTSAM_VERSION_MAJOR})
 message(STATUS "GTSAM Version: ${gtsam_version}")
 message(STATUS "Install prefix: ${CMAKE_INSTALL_PREFIX}")
- 
+message("GTSAM Additional: ${GTSAM_ADDITIONAL_LIBRARIES}")
+message("GTSAM Exports: ${GTSAM_EXPORTED_TARGETS}")
+
 # build shared and static versions of the library
 if (GTSAM_BUILD_STATIC_LIBRARY)
     message(STATUS "Building GTSAM - static")
     add_library(gtsam STATIC ${gtsam_srcs})
 	target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
-    set_target_properties(gtsam PROPERTIES 
+    set_target_properties(gtsam PROPERTIES
         OUTPUT_NAME         gtsam
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_version}
@@ -114,7 +117,7 @@ else()
     message(STATUS "Building GTSAM - shared")
     add_library(gtsam SHARED ${gtsam_srcs})
     target_link_libraries(gtsam ${GTSAM_BOOST_LIBRARIES} ${GTSAM_ADDITIONAL_LIBRARIES})
-    set_target_properties(gtsam PROPERTIES 
+    set_target_properties(gtsam PROPERTIES
         OUTPUT_NAME         gtsam
         CLEAN_DIRECT_OUTPUT 1
     	VERSION             ${gtsam_version}
@@ -135,7 +138,7 @@ set_property(SOURCE "${CMAKE_CURRENT_SOURCE_DIR}/slam/dataset.cpp"
     APPEND PROPERTY COMPILE_DEFINITIONS
 	"SOURCE_TREE_DATASET_DIR=\"${PROJECT_SOURCE_DIR}/examples/Data\""
 	"INSTALLED_DATASET_DIR=\"${GTSAM_TOOLBOX_INSTALL_PATH}/gtsam_examples/Data\"")
-	
+
 # Special cases
 if(MSVC)
 	set_property(SOURCE
@@ -148,7 +151,7 @@ endif()
 if (GTSAM_INSTALL_MATLAB_TOOLBOX)
     # Set up codegen
     include(GtsamMatlabWrap)
-    
+
     # Generate, build and install toolbox
     set(mexFlags "${GTSAM_BUILD_MEX_BINARY_FLAGS}")
 	if(GTSAM_BUILD_STATIC_LIBRARY)
diff --git a/gtsam/inference/EliminateableFactorGraph-inst.h b/gtsam/inference/EliminateableFactorGraph-inst.h
index b64ebe259..5e261e200 100644
--- a/gtsam/inference/EliminateableFactorGraph-inst.h
+++ b/gtsam/inference/EliminateableFactorGraph-inst.h
@@ -28,7 +28,8 @@ namespace gtsam {
   template<class FACTORGRAPH>
   boost::shared_ptr<typename EliminateableFactorGraph<FACTORGRAPH>::BayesNetType>
     EliminateableFactorGraph<FACTORGRAPH>::eliminateSequential(
-    OptionalOrdering ordering, const Eliminate& function, OptionalVariableIndex variableIndex) const
+	OptionalOrdering ordering, const Eliminate& function,
+	OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const
   {
     if(ordering && variableIndex) {
       gttic(eliminateSequential);
@@ -47,13 +48,16 @@ namespace gtsam {
       // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check
       // for no variable index first so that it's always computed if we need to call COLAMD because
       // no Ordering is provided.
-      return eliminateSequential(ordering, function, VariableIndex(asDerived()));
+      return eliminateSequential(ordering, function, VariableIndex(asDerived()), orderingType);
     }
     else /*if(!ordering)*/ {
       // If no Ordering provided, compute one and call this function again.  We are guaranteed to
       // have a VariableIndex already here because we computed one if needed in the previous 'else'
       // block.
-      return eliminateSequential(Ordering::COLAMD(*variableIndex), function);
+      if (orderingType == Ordering::METIS)
+	      return eliminateSequential(Ordering::metis(asDerived()), function, variableIndex, orderingType);
+	    else
+		    return eliminateSequential(Ordering::colamd(*variableIndex), function, variableIndex, orderingType);
     }
   }
 
@@ -61,7 +65,8 @@ namespace gtsam {
   template<class FACTORGRAPH>
   boost::shared_ptr<typename EliminateableFactorGraph<FACTORGRAPH>::BayesTreeType>
     EliminateableFactorGraph<FACTORGRAPH>::eliminateMultifrontal(
-    OptionalOrdering ordering, const Eliminate& function, OptionalVariableIndex variableIndex) const
+	  OptionalOrdering ordering, const Eliminate& function,
+	  OptionalVariableIndex variableIndex, OptionalOrderingType orderingType) const
   {
     if(ordering && variableIndex) {
       gttic(eliminateMultifrontal);
@@ -81,13 +86,16 @@ namespace gtsam {
       // If no VariableIndex provided, compute one and call this function again IMPORTANT: we check
       // for no variable index first so that it's always computed if we need to call COLAMD because
       // no Ordering is provided.
-      return eliminateMultifrontal(ordering, function, VariableIndex(asDerived()));
+		  return eliminateMultifrontal(ordering, function, VariableIndex(asDerived()), orderingType);
     }
     else /*if(!ordering)*/ {
       // If no Ordering provided, compute one and call this function again.  We are guaranteed to
       // have a VariableIndex already here because we computed one if needed in the previous 'else'
       // block.
-      return eliminateMultifrontal(Ordering::COLAMD(*variableIndex), function);
+	    if (orderingType == Ordering::METIS)
+		    return eliminateMultifrontal(Ordering::metis(asDerived()), function, variableIndex, orderingType);
+	    else
+		    return eliminateMultifrontal(Ordering::colamd(*variableIndex), function, variableIndex, orderingType);
     }
   }
 
@@ -117,7 +125,7 @@ namespace gtsam {
     if(variableIndex) {
       gttic(eliminatePartialSequential);
       // Compute full ordering
-      Ordering fullOrdering = Ordering::COLAMDConstrainedFirst(*variableIndex, variables);
+      Ordering fullOrdering = Ordering::colamdConstrainedFirst(*variableIndex, variables);
 
       // Split off the part of the ordering for the variables being eliminated
       Ordering ordering(fullOrdering.begin(), fullOrdering.begin() + variables.size());
@@ -155,7 +163,7 @@ namespace gtsam {
     if(variableIndex) {
       gttic(eliminatePartialMultifrontal);
       // Compute full ordering
-      Ordering fullOrdering = Ordering::COLAMDConstrainedFirst(*variableIndex, variables);
+      Ordering fullOrdering = Ordering::colamdConstrainedFirst(*variableIndex, variables);
 
       // Split off the part of the ordering for the variables being eliminated
       Ordering ordering(fullOrdering.begin(), fullOrdering.begin() + variables.size());
@@ -208,7 +216,7 @@ namespace gtsam {
           boost::get<const Ordering&>(&variables) : boost::get<const std::vector<Key>&>(&variables);
 
         Ordering totalOrdering =
-          Ordering::COLAMDConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered);
+          Ordering::colamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered);
 
         // Split up ordering
         const size_t nVars = variablesOrOrdering->size();
@@ -267,7 +275,7 @@ namespace gtsam {
           boost::get<const Ordering&>(&variables) : boost::get<const std::vector<Key>&>(&variables);
 
         Ordering totalOrdering =
-          Ordering::COLAMDConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered);
+          Ordering::colamdConstrainedLast(*variableIndex, *variablesOrOrdering, unmarginalizedAreOrdered);
 
         // Split up ordering
         const size_t nVars = variablesOrOrdering->size();
@@ -293,7 +301,7 @@ namespace gtsam {
     if(variableIndex)
     {
       // Compute a total ordering for all variables
-      Ordering totalOrdering = Ordering::COLAMDConstrainedLast(*variableIndex, variables);
+      Ordering totalOrdering = Ordering::colamdConstrainedLast(*variableIndex, variables);
 
       // Split out the part for the marginalized variables
       Ordering marginalizationOrdering(totalOrdering.begin(), totalOrdering.end() - variables.size());
diff --git a/gtsam/inference/EliminateableFactorGraph.h b/gtsam/inference/EliminateableFactorGraph.h
index 717f49167..5fb5fbdb1 100644
--- a/gtsam/inference/EliminateableFactorGraph.h
+++ b/gtsam/inference/EliminateableFactorGraph.h
@@ -94,6 +94,9 @@ namespace gtsam {
     /// Typedef for an optional variable index as an argument to elimination functions
     typedef boost::optional<const VariableIndex&> OptionalVariableIndex;
 
+	  /// Typedef for an optional ordering type
+	  typedef boost::optional<Ordering::OrderingType> OptionalOrderingType;
+
     /** Do sequential elimination of all variables to produce a Bayes net.  If an ordering is not
      *  provided, the ordering provided by COLAMD will be used.
      *  
@@ -101,6 +104,10 @@ namespace gtsam {
      *  \code
      *  boost::shared_ptr<GaussianBayesNet> result = graph.eliminateSequential(EliminateCholesky);
      *  \endcode
+	   *
+	   *  <b> Example - METIS ordering for elimination
+	   *  \code
+	   *  boost::shared_ptr<GaussianBayesNet> result = graph.eliminateSequential(OrderingType::METIS);
      *  
      *  <b> Example - Full QR elimination in specified order:
      *  \code
@@ -117,7 +124,8 @@ namespace gtsam {
     boost::shared_ptr<BayesNetType> eliminateSequential(
       OptionalOrdering ordering = boost::none,
       const Eliminate& function = EliminationTraitsType::DefaultEliminate,
-      OptionalVariableIndex variableIndex = boost::none) const;
+      OptionalVariableIndex variableIndex = boost::none,
+	    OptionalOrderingType orderingType = boost::none) const;
 
     /** Do multifrontal elimination of all variables to produce a Bayes tree.  If an ordering is not
      *  provided, the ordering provided by COLAMD will be used.
@@ -142,7 +150,8 @@ namespace gtsam {
     boost::shared_ptr<BayesTreeType> eliminateMultifrontal(
       OptionalOrdering ordering = boost::none,
       const Eliminate& function = EliminationTraitsType::DefaultEliminate,
-      OptionalVariableIndex variableIndex = boost::none) const;
+	    OptionalVariableIndex variableIndex = boost::none,
+	    OptionalOrderingType orderingType = boost::none) const;
 
     /** Do sequential elimination of some variables, in \c ordering provided, to produce a Bayes net
      *  and a remaining factor graph.  This computes the factorization \f$ p(X) = p(A|B) p(B) \f$,
diff --git a/gtsam/inference/ISAM-inst.h b/gtsam/inference/ISAM-inst.h
index 645499b2c..7cb3d9817 100644
--- a/gtsam/inference/ISAM-inst.h
+++ b/gtsam/inference/ISAM-inst.h
@@ -46,7 +46,7 @@ namespace gtsam {
     const VariableIndex varIndex(factors);
     const FastSet<Key> newFactorKeys = newFactors.keys();
     const Ordering constrainedOrdering =
-      Ordering::COLAMDConstrainedLast(varIndex, std::vector<Key>(newFactorKeys.begin(), newFactorKeys.end()));
+      Ordering::colamdConstrainedLast(varIndex, std::vector<Key>(newFactorKeys.begin(), newFactorKeys.end()));
     Base bayesTree = *factors.eliminateMultifrontal(constrainedOrdering, function, varIndex);
     this->roots_.insert(this->roots_.end(), bayesTree.roots().begin(), bayesTree.roots().end());
     this->nodes_.insert(bayesTree.nodes().begin(), bayesTree.nodes().end());
diff --git a/gtsam/inference/MetisIndex-inl.h b/gtsam/inference/MetisIndex-inl.h
new file mode 100644
index 000000000..0be1c503c
--- /dev/null
+++ b/gtsam/inference/MetisIndex-inl.h
@@ -0,0 +1,85 @@
+/* ----------------------------------------------------------------------------
+
+* 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    MetisIndex-inl.h
+* @author  Andrew Melim
+* @date    Oct. 10, 2014
+*/
+
+#pragma once
+
+#include <map>
+#include <vector>
+
+namespace gtsam {
+
+
+/* ************************************************************************* */
+template<class FACTOR>
+void MetisIndex::augment(const FactorGraph<FACTOR>& factors)
+{
+  std::map<idx_t, FastSet<idx_t> > iAdjMap; // Stores a set of keys that are adjacent to key x, with  adjMap.first
+  std::map<idx_t, FastSet<idx_t> >::iterator iAdjMapIt;
+	std::set<Key> keySet;
+        
+	/* ********** Convert to CSR format ********** */
+	// Assuming that vertex numbering starts from 0 (C style),
+	// then the adjacency list of vertex i is stored in array adjncy
+	// starting at index xadj[i] and ending at(but not including)
+	// index xadj[i + 1](i.e., adjncy[xadj[i]] through
+	// and including adjncy[xadj[i + 1] - 1]).
+  idx_t keyCounter = 0;
+
+  // First: Record a copy of each key inside the factorgraph and create a
+  // key to integer mapping. This is referenced during the adjaceny step
+  for (size_t i = 0; i < factors.size(); i++){
+    if (factors[i]) {
+      BOOST_FOREACH(const Key& key, *factors[i]){
+        keySet.insert(keySet.end(), key); // Keep a track of all unique keys
+        if (intKeyBMap_.left.find(key) == intKeyBMap_.left.end()){
+          intKeyBMap_.insert(bm_type::value_type(key, keyCounter));
+          keyCounter++;
+        }
+      }
+    }
+  }
+  
+  // Create an adjacency mapping that stores the set of all adjacent keys for every key
+	for (size_t i = 0; i < factors.size(); i++){
+		if (factors[i]){
+			BOOST_FOREACH(const Key& k1, *factors[i])
+				BOOST_FOREACH(const Key& k2, *factors[i])
+          if (k1 != k2){
+            // Store both in Key and idx_t format
+            int i = intKeyBMap_.left.at(k1);
+            int j = intKeyBMap_.left.at(k2);
+            iAdjMap[i].insert(iAdjMap[i].end(), j);
+          }
+		}
+	}
+
+	// Number of keys referenced in this factor graph
+	nKeys_ = keySet.size();
+		
+	xadj_.push_back(0);// Always set the first index to zero
+  for (iAdjMapIt = iAdjMap.begin(); iAdjMapIt != iAdjMap.end(); ++iAdjMapIt) {
+		std::vector<idx_t> temp;
+		// Copy from the FastSet into a temporary vector
+		std::copy(iAdjMapIt->second.begin(), iAdjMapIt->second.end(), std::back_inserter(temp));
+		// Insert each index's set in order by appending them to the end of adj_
+		adj_.insert(adj_.end(), temp.begin(), temp.end());
+		//adj_.push_back(temp);
+		xadj_.push_back((idx_t)adj_.size());
+	}
+}
+
+}
diff --git a/gtsam/inference/MetisIndex.h b/gtsam/inference/MetisIndex.h
new file mode 100644
index 000000000..3eef4739c
--- /dev/null
+++ b/gtsam/inference/MetisIndex.h
@@ -0,0 +1,89 @@
+/* ----------------------------------------------------------------------------
+
+* 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    MetisIndex.h
+* @author  Andrew Melim
+* @date    Oct. 10, 2014
+*/
+
+#pragma once
+
+#include <vector>
+#include <boost/foreach.hpp>
+
+#include <gtsam/base/FastList.h>
+#include <gtsam/base/types.h>
+#include <gtsam/base/timing.h>
+#include <gtsam/inference/Key.h>
+#include <gtsam/inference/FactorGraph.h>
+#include <gtsam/3rdparty/metis/metis.h>
+#include <boost/bimap.hpp>
+
+namespace gtsam {
+/**
+	* The MetisIndex class converts a factor graph into the Compressed Sparse Row format for use in
+	* METIS algorithms. Specifically, two vectors store the adjacency structure of the graph. It is built
+	* from a factor graph prior to elimination, and stores the list of factors
+	* that involve each variable.
+	* \nosubgrouping
+	*/
+class GTSAM_EXPORT MetisIndex
+{
+public:
+	typedef boost::shared_ptr<MetisIndex> shared_ptr;
+  typedef boost::bimap<Key, idx_t>      bm_type;
+
+private:
+  FastVector<idx_t>        xadj_; // Index of node's adjacency list in adj
+  FastVector<idx_t>        adj_; // Stores ajacency lists of all nodes, appended into a single vector
+  FastVector<idx_t>        iadj_; // Integer keys for passing into metis. One to one mapping with adj_;
+  boost::bimap<Key, idx_t> intKeyBMap_; // Stores Key <-> integer value relationship
+	size_t nFactors_;        // Number of factors in the original factor graph
+	size_t nKeys_;          
+
+public:
+	/// @name Standard Constructors
+	/// @{
+
+	/** Default constructor, creates empty MetisIndex */
+	MetisIndex() : nFactors_(0), nKeys_(0) {}
+
+	template<class FG>
+	MetisIndex(const FG& factorGraph) : nFactors_(0), nKeys_(0) {
+			augment(factorGraph); }
+
+	~MetisIndex(){}
+	/// @}
+	/// @name Advanced Interface
+	/// @{
+
+	/**
+	* Augment the variable index with new factors.  This can be used when
+	* solving problems incrementally.
+	*/
+	template<class FACTOR>
+	void augment(const FactorGraph<FACTOR>& factors);
+
+  std::vector<idx_t> xadj() const { return   xadj_; }
+  std::vector<idx_t>  adj() const { return    adj_; }
+	size_t          nValues() const { return  nKeys_; }
+  Key intToKey(idx_t value) const {
+    assert(value >= 0);
+    return intKeyBMap_.right.find(value)->second;
+  }
+
+	/// @}
+};
+
+}
+
+#include <gtsam/inference/MetisIndex-inl.h>
diff --git a/gtsam/inference/Ordering.cpp b/gtsam/inference/Ordering.cpp
index 4f4b14bb5..5ae25d543 100644
--- a/gtsam/inference/Ordering.cpp
+++ b/gtsam/inference/Ordering.cpp
@@ -12,6 +12,7 @@
 /**
  * @file    Ordering.cpp
  * @author  Richard Roberts
+ * @author  Andrew Melim
  * @date    Sep 2, 2010
  */
 
@@ -22,6 +23,7 @@
 
 #include <gtsam/inference/Ordering.h>
 #include <gtsam/3rdparty/CCOLAMD/Include/ccolamd.h>
+#include <gtsam/3rdparty/metis/include/metis.h>
 
 using namespace std;
 
@@ -37,15 +39,15 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  Ordering Ordering::COLAMD(const VariableIndex& variableIndex)
+  Ordering Ordering::colamd(const VariableIndex& variableIndex)
   {
     // Call constrained version with all groups set to zero
     vector<int> dummy_groups(variableIndex.size(), 0);
-    return Ordering::COLAMDConstrained(variableIndex, dummy_groups);
+    return Ordering::colamdConstrained(variableIndex, dummy_groups);
   }
 
   /* ************************************************************************* */
-  Ordering Ordering::COLAMDConstrained(
+  Ordering Ordering::colamdConstrained(
     const VariableIndex& variableIndex, std::vector<int>& cmember)
   {
     gttic(Ordering_COLAMDConstrained);
@@ -112,7 +114,7 @@ namespace gtsam {
   }
 
   /* ************************************************************************* */
-  Ordering Ordering::COLAMDConstrainedLast(
+  Ordering Ordering::colamdConstrainedLast(
     const VariableIndex& variableIndex, const std::vector<Key>& constrainLast, bool forceOrder)
   {
     gttic(Ordering_COLAMDConstrainedLast);
@@ -135,11 +137,11 @@ namespace gtsam {
         ++ group;
     }
 
-    return Ordering::COLAMDConstrained(variableIndex, cmember);
+    return Ordering::colamdConstrained(variableIndex, cmember);
   }
 
   /* ************************************************************************* */
-  Ordering Ordering::COLAMDConstrainedFirst(
+  Ordering Ordering::colamdConstrainedFirst(
     const VariableIndex& variableIndex, const std::vector<Key>& constrainFirst, bool forceOrder)
   {
     gttic(Ordering_COLAMDConstrainedFirst);
@@ -169,11 +171,11 @@ namespace gtsam {
       if(c == none)
         c = group;
 
-    return Ordering::COLAMDConstrained(variableIndex, cmember);
+    return Ordering::colamdConstrained(variableIndex, cmember);
   }
 
   /* ************************************************************************* */
-  Ordering Ordering::COLAMDConstrained(const VariableIndex& variableIndex,
+  Ordering Ordering::colamdConstrained(const VariableIndex& variableIndex,
     const FastMap<Key, int>& groups)
   {
     gttic(Ordering_COLAMDConstrained);
@@ -193,7 +195,43 @@ namespace gtsam {
       cmember[keyIndices.at(p.first)] = p.second;
     }
 
-    return Ordering::COLAMDConstrained(variableIndex, cmember);
+    return Ordering::colamdConstrained(variableIndex, cmember);
+  }
+
+
+  /* ************************************************************************* */
+  Ordering Ordering::metis(const MetisIndex& met)
+  {
+    gttic(Ordering_METIS);
+
+    vector<idx_t> xadj   = met.xadj();
+    vector<idx_t>  adj   = met.adj();
+    vector<idx_t> perm, iperm;
+
+    idx_t size = met.nValues();
+    for (idx_t i = 0; i < size; i++)
+    {
+	    perm.push_back(0);
+	    iperm.push_back(0);
+    }
+
+    int outputError;
+      
+    outputError = METIS_NodeND(&size, &xadj[0], &adj[0], NULL, NULL, &perm[0], &iperm[0]);
+    Ordering result;
+
+    if (outputError != METIS_OK)
+    {
+        std::cout << "METIS failed during Nested Dissection ordering!\n";
+        return result;
+    }
+
+    result.resize(size);
+    for (size_t j = 0; j < (size_t)size; ++j){
+	    // We have to add the minKey value back to obtain the original key in the Values
+	    result[j] = met.intToKey(perm[j]);
+    }
+    return result;
   }
 
   /* ************************************************************************* */
diff --git a/gtsam/inference/Ordering.h b/gtsam/inference/Ordering.h
index 7b1a2bb2e..24c811841 100644
--- a/gtsam/inference/Ordering.h
+++ b/gtsam/inference/Ordering.h
@@ -12,6 +12,7 @@
 /**
  * @file    Ordering.h
  * @author  Richard Roberts
+ * @author  Andrew Melim
  * @date    Sep 2, 2010
  */
 
@@ -24,14 +25,22 @@
 #include <gtsam/base/FastSet.h>
 #include <gtsam/inference/Key.h>
 #include <gtsam/inference/VariableIndex.h>
+#include <gtsam/inference/MetisIndex.h>
 #include <gtsam/inference/FactorGraph.h>
 
 namespace gtsam {
+
   class Ordering : public std::vector<Key> {
   protected:
     typedef std::vector<Key> Base;
 
   public:
+
+    /// Type of ordering to use
+    enum OrderingType {
+      COLAMD, METIS, CUSTOM
+    };
+
     typedef Ordering This; ///< Typedef to this class
     typedef boost::shared_ptr<This> shared_ptr; ///< shared_ptr to this class
 
@@ -62,11 +71,11 @@ namespace gtsam {
     /// performance). This internally builds a VariableIndex so if you already have a VariableIndex,
     /// it is faster to use COLAMD(const VariableIndex&)
     template<class FACTOR>
-    static Ordering COLAMD(const FactorGraph<FACTOR>& graph) {
-      return COLAMD(VariableIndex(graph)); }
+    static Ordering colamd(const FactorGraph<FACTOR>& graph) {
+      return colamd(VariableIndex(graph)); }
 
     /// Compute a fill-reducing ordering using COLAMD from a VariableIndex.
-    static GTSAM_EXPORT Ordering COLAMD(const VariableIndex& variableIndex);
+    static GTSAM_EXPORT Ordering colamd(const VariableIndex& variableIndex);
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
     /// for note on performance).  This internally builds a VariableIndex so if you already have a
@@ -77,9 +86,9 @@ namespace gtsam {
     /// constrainLast.   If \c forceOrder is false, the variables in \c constrainLast will be
     /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
     template<class FACTOR>
-    static Ordering COLAMDConstrainedLast(const FactorGraph<FACTOR>& graph,
+    static Ordering colamdConstrainedLast(const FactorGraph<FACTOR>& graph,
       const std::vector<Key>& constrainLast, bool forceOrder = false) {
-        return COLAMDConstrainedLast(VariableIndex(graph), constrainLast, forceOrder); }
+        return colamdConstrainedLast(VariableIndex(graph), constrainLast, forceOrder); }
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.  This
     /// function constrains the variables in \c constrainLast to the end of the ordering, and orders
@@ -87,7 +96,7 @@ namespace gtsam {
     /// variables in \c constrainLast will be ordered in the same order specified in the vector<Key>
     /// \c constrainLast.   If \c forceOrder is false, the variables in \c constrainLast will be
     /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
-    static GTSAM_EXPORT Ordering COLAMDConstrainedLast(const VariableIndex& variableIndex,
+    static GTSAM_EXPORT Ordering colamdConstrainedLast(const VariableIndex& variableIndex,
       const std::vector<Key>& constrainLast, bool forceOrder = false);
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
@@ -99,9 +108,9 @@ namespace gtsam {
     /// constrainLast.   If \c forceOrder is false, the variables in \c constrainFirst will be
     /// ordered after all the others, but will be rearranged by CCOLAMD to reduce fill-in as well.
     template<class FACTOR>
-    static Ordering COLAMDConstrainedFirst(const FactorGraph<FACTOR>& graph,
+    static Ordering colamdConstrainedFirst(const FactorGraph<FACTOR>& graph,
       const std::vector<Key>& constrainFirst, bool forceOrder = false) {
-        return COLAMDConstrainedFirst(VariableIndex(graph), constrainFirst, forceOrder); }
+        return colamdConstrainedFirst(VariableIndex(graph), constrainFirst, forceOrder); }
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.  This
     /// function constrains the variables in \c constrainFirst to the front of the ordering, and
@@ -110,7 +119,7 @@ namespace gtsam {
     /// vector<Key> \c constrainFirst.   If \c forceOrder is false, the variables in \c
     /// constrainFirst will be ordered after all the others, but will be rearranged by CCOLAMD to
     /// reduce fill-in as well.
-    static GTSAM_EXPORT Ordering COLAMDConstrainedFirst(const VariableIndex& variableIndex,
+    static GTSAM_EXPORT Ordering colamdConstrainedFirst(const VariableIndex& variableIndex,
       const std::vector<Key>& constrainFirst, bool forceOrder = false);
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a factor graph (see details
@@ -123,9 +132,9 @@ namespace gtsam {
     /// function simply fills the \c cmember argument to CCOLAMD with the supplied indices, see the
     /// CCOLAMD documentation for more information.
     template<class FACTOR>
-    static Ordering COLAMDConstrained(const FactorGraph<FACTOR>& graph,
+    static Ordering colamdConstrained(const FactorGraph<FACTOR>& graph,
       const FastMap<Key, int>& groups) {
-        return COLAMDConstrained(VariableIndex(graph), groups); }
+        return colamdConstrained(VariableIndex(graph), groups); }
 
     /// Compute a fill-reducing ordering using constrained COLAMD from a VariableIndex.  In this
     /// function, a group for each variable should be specified in \c groups, and each group of
@@ -134,7 +143,7 @@ namespace gtsam {
     /// appear in \c groups in arbitrary order.  Any variables not present in \c groups will be
     /// assigned to group 0.  This function simply fills the \c cmember argument to CCOLAMD with the
     /// supplied indices, see the CCOLAMD documentation for more information.
-    static GTSAM_EXPORT Ordering COLAMDConstrained(const VariableIndex& variableIndex,
+    static GTSAM_EXPORT Ordering colamdConstrained(const VariableIndex& variableIndex,
       const FastMap<Key, int>& groups);
 
     /// Return a natural Ordering. Typically used by iterative solvers
@@ -146,6 +155,19 @@ namespace gtsam {
       return Ordering(keys);
     }
 
+    /// METIS Formatting function
+    template<class FACTOR>
+    static GTSAM_EXPORT void CSRFormat(std::vector<int>& xadj, std::vector<int>& adj, const FactorGraph<FACTOR>& graph);
+
+    /// Compute an ordering determined by METIS from a VariableIndex
+    static GTSAM_EXPORT Ordering metis(const MetisIndex& met);
+
+    template<class FACTOR>
+    static Ordering metis(const FactorGraph<FACTOR>& graph)
+    {
+        return metis(MetisIndex(graph));
+    }
+
     /// @}
 
     /// @name Testable @{
@@ -158,9 +180,10 @@ namespace gtsam {
 
   private:
     /// Internal COLAMD function
-    static GTSAM_EXPORT Ordering COLAMDConstrained(
+    static GTSAM_EXPORT Ordering colamdConstrained(
       const VariableIndex& variableIndex, std::vector<int>& cmember);
 
+
     /** Serialization function */
     friend class boost::serialization::access;
     template<class ARCHIVE>
diff --git a/gtsam/inference/tests/testOrdering.cpp b/gtsam/inference/tests/testOrdering.cpp
index 3bf6f7ca0..013f569e0 100644
--- a/gtsam/inference/tests/testOrdering.cpp
+++ b/gtsam/inference/tests/testOrdering.cpp
@@ -12,15 +12,17 @@
 /**
  * @file testOrdering
  * @author Alex Cunningham
+ * @author Andrew Melim
  */
 
 #include <gtsam/inference/Symbol.h>
 #include <gtsam/symbolic/SymbolicFactorGraph.h>
 #include <gtsam/inference/Ordering.h>
+#include <gtsam/inference/MetisIndex.h>
 #include <gtsam/base/TestableAssertions.h>
 #include <CppUnitLite/TestHarness.h>
 
-#include <boost/assign/list_of.hpp>
+#include <boost/assign/std.hpp>
 
 using namespace std;
 using namespace gtsam;
@@ -38,17 +40,17 @@ TEST(Ordering, constrained_ordering) {
   sfg.push_factor(4,5);
 
   // unconstrained version
-  Ordering actUnconstrained = Ordering::COLAMD(sfg);
+  Ordering actUnconstrained = Ordering::colamd(sfg);
   Ordering expUnconstrained = Ordering(list_of(0)(1)(2)(3)(4)(5));
   EXPECT(assert_equal(expUnconstrained, actUnconstrained));
 
   // constrained version - push one set to the end
-  Ordering actConstrained = Ordering::COLAMDConstrainedLast(sfg, list_of(2)(4));
+  Ordering actConstrained = Ordering::colamdConstrainedLast(sfg, list_of(2)(4));
   Ordering expConstrained = Ordering(list_of(0)(1)(5)(3)(4)(2));
   EXPECT(assert_equal(expConstrained, actConstrained));
 
   // constrained version - push one set to the start
-  Ordering actConstrained2 = Ordering::COLAMDConstrainedFirst(sfg, list_of(2)(4));
+  Ordering actConstrained2 = Ordering::colamdConstrainedFirst(sfg, list_of(2)(4));
   Ordering expConstrained2 = Ordering(list_of(2)(4)(0)(1)(3)(5));
   EXPECT(assert_equal(expConstrained2, actConstrained2));
 }
@@ -72,11 +74,163 @@ TEST(Ordering, grouped_constrained_ordering) {
   constraints[4] = 1;
   constraints[5] = 2;
 
-  Ordering actConstrained = Ordering::COLAMDConstrained(sfg, constraints);
+  Ordering actConstrained = Ordering::colamdConstrained(sfg, constraints);
   Ordering expConstrained = list_of(0)(1)(3)(2)(4)(5);
   EXPECT(assert_equal(expConstrained, actConstrained));
 }
 
+/* ************************************************************************* */
+TEST(Ordering, csr_format) {
+    // Example in METIS manual
+    SymbolicFactorGraph sfg;
+    sfg.push_factor(0, 1);
+    sfg.push_factor(1, 2);
+    sfg.push_factor(2, 3);
+    sfg.push_factor(3, 4);
+    sfg.push_factor(5, 6);
+    sfg.push_factor(6, 7);
+    sfg.push_factor(7, 8);
+    sfg.push_factor(8, 9);
+    sfg.push_factor(10, 11);
+    sfg.push_factor(11, 12);
+    sfg.push_factor(12, 13);
+    sfg.push_factor(13, 14);
+
+    sfg.push_factor(0, 5);
+    sfg.push_factor(5, 10);
+    sfg.push_factor(1, 6);
+    sfg.push_factor(6, 11);
+    sfg.push_factor(2, 7);
+    sfg.push_factor(7, 12);
+    sfg.push_factor(3, 8);
+    sfg.push_factor(8, 13);
+    sfg.push_factor(4, 9);
+    sfg.push_factor(9, 14);
+
+    MetisIndex mi(sfg);
+
+    vector<int> xadjExpected, adjExpected;
+    xadjExpected += 0, 2, 5, 8, 11, 13, 16, 20, 24, 28, 31, 33, 36, 39, 42, 44;
+    adjExpected += 1, 5, 0, 2, 6, 1, 3, 7, 2, 4, 8, 3, 9, 0, 6, 10, 1, 5, 7, 11,
+                             2, 6, 8, 12, 3, 7, 9, 13, 4, 8, 14, 5, 11, 6, 10, 12, 7, 11, 
+                             13, 8, 12, 14, 9, 13 ;
+
+    EXPECT(xadjExpected  == mi.xadj());
+    EXPECT(adjExpected.size() == mi.adj().size());
+    EXPECT(adjExpected  == mi.adj());
+}
+
+/* ************************************************************************* */
+TEST(Ordering, csr_format_2) {
+  SymbolicFactorGraph sfg;
+
+  sfg.push_factor(0);
+  sfg.push_factor(0, 1);
+  sfg.push_factor(1, 2);
+  sfg.push_factor(2, 3);
+  sfg.push_factor(3, 4);
+  sfg.push_factor(4, 1);
+
+  MetisIndex mi(sfg);
+
+  vector<int> xadjExpected, adjExpected;
+  xadjExpected += 0, 1, 4, 6, 8, 10;
+  adjExpected +=  1, 0, 2, 4, 1, 3, 2, 4, 1, 3;
+
+  EXPECT(xadjExpected == mi.xadj());
+  EXPECT(adjExpected.size() == mi.adj().size());
+  EXPECT(adjExpected == mi.adj());
+
+}
+
+/* ************************************************************************* */
+TEST(Ordering, csr_format_3) {
+  SymbolicFactorGraph sfg;
+
+  sfg.push_factor(100);
+  sfg.push_factor(100, 101);
+  sfg.push_factor(101, 102);
+  sfg.push_factor(102, 103);
+  sfg.push_factor(103, 104);
+  sfg.push_factor(104, 101);
+
+  MetisIndex mi(sfg);
+
+  vector<int> xadjExpected, adjExpected;
+  xadjExpected += 0, 1, 4, 6, 8, 10;
+  adjExpected += 1, 0, 2, 4, 1, 3, 2, 4, 1, 3;
+  //size_t minKey = mi.minKey();
+
+  vector<int> adjAcutal = mi.adj();
+
+  // Normalize, subtract the smallest key
+  //std::transform(adjAcutal.begin(), adjAcutal.end(), adjAcutal.begin(),
+  //    std::bind2nd(std::minus<size_t>(), minKey));
+
+  EXPECT(xadjExpected == mi.xadj());
+  EXPECT(adjExpected.size() == mi.adj().size());
+  EXPECT(adjExpected == adjAcutal);
+  
+}
+
+/* ************************************************************************* */
+TEST(Ordering, csr_format_4) {
+  SymbolicFactorGraph sfg;
+
+  sfg.push_factor(Symbol('x', 1));
+  sfg.push_factor(Symbol('x', 1), Symbol('x', 2));
+  sfg.push_factor(Symbol('x', 2), Symbol('x', 3));
+  sfg.push_factor(Symbol('x', 3), Symbol('x', 4));
+  sfg.push_factor(Symbol('x', 4), Symbol('x', 5));
+  sfg.push_factor(Symbol('x', 5), Symbol('x', 6));
+
+  MetisIndex mi(sfg);
+
+  vector<int> xadjExpected, adjExpected;
+  xadjExpected += 0, 1, 3, 5, 7, 9, 10;
+  adjExpected += 1, 0, 2, 1, 3, 2, 4, 3, 5, 4;
+
+  vector<int> adjAcutal = mi.adj();
+  vector<int> xadjActual = mi.xadj();
+
+  EXPECT(xadjExpected == mi.xadj());
+  EXPECT(adjExpected.size() == mi.adj().size());
+  EXPECT(adjExpected == adjAcutal);
+
+  Ordering metOrder = Ordering::metis(sfg);
+
+  // Test different symbol types
+  sfg.push_factor(Symbol('l', 1));
+  sfg.push_factor(Symbol('x', 1), Symbol('l', 1));
+  sfg.push_factor(Symbol('x', 2), Symbol('l', 1));
+  sfg.push_factor(Symbol('x', 3), Symbol('l', 1));
+  sfg.push_factor(Symbol('x', 4), Symbol('l', 1));
+
+  Ordering metOrder2 = Ordering::metis(sfg);
+
+}
+
+/* ************************************************************************* */
+TEST(Ordering, metis) {
+
+  SymbolicFactorGraph sfg;
+
+  sfg.push_factor(0);
+  sfg.push_factor(0, 1);
+  sfg.push_factor(1, 2);
+
+  MetisIndex mi(sfg);
+
+  vector<int> xadjExpected, adjExpected;
+  xadjExpected += 0, 1, 3, 4;
+  adjExpected += 1, 0, 2, 1;
+
+  EXPECT(xadjExpected == mi.xadj());
+  EXPECT(adjExpected.size() == mi.adj().size());
+  EXPECT(adjExpected == mi.adj());
+
+  Ordering metis = Ordering::metis(sfg);
+}
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
diff --git a/gtsam/nonlinear/DoglegOptimizer.cpp b/gtsam/nonlinear/DoglegOptimizer.cpp
index 082cc66c8..e148bd65d 100644
--- a/gtsam/nonlinear/DoglegOptimizer.cpp
+++ b/gtsam/nonlinear/DoglegOptimizer.cpp
@@ -96,7 +96,7 @@ void DoglegOptimizer::iterate(void) {
 /* ************************************************************************* */
 DoglegParams DoglegOptimizer::ensureHasOrdering(DoglegParams params, const NonlinearFactorGraph& graph) const {
   if(!params.ordering)
-    params.ordering = Ordering::COLAMD(graph);
+    params.ordering = Ordering::colamd(graph);
   return params;
 }
 
diff --git a/gtsam/nonlinear/GaussNewtonOptimizer.cpp b/gtsam/nonlinear/GaussNewtonOptimizer.cpp
index 823f3a6ac..7a115e1c4 100644
--- a/gtsam/nonlinear/GaussNewtonOptimizer.cpp
+++ b/gtsam/nonlinear/GaussNewtonOptimizer.cpp
@@ -49,7 +49,7 @@ GaussNewtonParams GaussNewtonOptimizer::ensureHasOrdering(
   GaussNewtonParams params, const NonlinearFactorGraph& graph) const
 {
   if(!params.ordering)
-    params.ordering = Ordering::COLAMD(graph);
+    params.ordering = Ordering::colamd(graph);
   return params;
 }
 
diff --git a/gtsam/nonlinear/ISAM2.cpp b/gtsam/nonlinear/ISAM2.cpp
index 6d6785b14..3b3d76285 100644
--- a/gtsam/nonlinear/ISAM2.cpp
+++ b/gtsam/nonlinear/ISAM2.cpp
@@ -341,7 +341,7 @@ boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKe
     Ordering order;
     if(constrainKeys)
     {
-      order = Ordering::COLAMDConstrained(variableIndex_, *constrainKeys);
+      order = Ordering::colamdConstrained(variableIndex_, *constrainKeys);
     }
     else
     {
@@ -351,11 +351,11 @@ boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKe
         FastMap<Key, int> constraintGroups;
         BOOST_FOREACH(Key var, observedKeys)
           constraintGroups[var] = 1;
-        order = Ordering::COLAMDConstrained(variableIndex_, constraintGroups);
+        order = Ordering::colamdConstrained(variableIndex_, constraintGroups);
       }
       else
       {
-        order = Ordering::COLAMD(variableIndex_);
+        order = Ordering::colamd(variableIndex_);
       }
     }
     gttoc(ordering);
@@ -481,7 +481,7 @@ boost::shared_ptr<FastSet<Key> > ISAM2::recalculate(const FastSet<Key>& markedKe
 
     // Generate ordering
     gttic(Ordering);
-    Ordering ordering = Ordering::COLAMDConstrained(affectedFactorsVarIndex, constraintGroups);
+    Ordering ordering = Ordering::colamdConstrained(affectedFactorsVarIndex, constraintGroups);
     gttoc(Ordering);
 
     ISAM2BayesTree::shared_ptr bayesTree = ISAM2JunctionTree(GaussianEliminationTree(
diff --git a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
index 002f8b237..473caa35e 100644
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@@ -340,8 +340,12 @@ void LevenbergMarquardtOptimizer::iterate() {
 /* ************************************************************************* */
 LevenbergMarquardtParams LevenbergMarquardtOptimizer::ensureHasOrdering(
     LevenbergMarquardtParams params, const NonlinearFactorGraph& graph) const {
-  if (!params.ordering)
-    params.ordering = Ordering::COLAMD(graph);
+  if (!params.ordering){
+    if (params.orderingType == Ordering::METIS)
+      params.ordering = Ordering::metis(graph);
+    else
+      params.ordering = Ordering::colamd(graph);
+  }
   return params;
 }
 
diff --git a/gtsam/nonlinear/NonlinearFactorGraph.cpp b/gtsam/nonlinear/NonlinearFactorGraph.cpp
index 3bbb63b88..238d3bc56 100644
--- a/gtsam/nonlinear/NonlinearFactorGraph.cpp
+++ b/gtsam/nonlinear/NonlinearFactorGraph.cpp
@@ -282,13 +282,13 @@ FastSet<Key> NonlinearFactorGraph::keys() const {
 /* ************************************************************************* */
 Ordering NonlinearFactorGraph::orderingCOLAMD() const
 {
-  return Ordering::COLAMD(*this);
+  return Ordering::colamd(*this);
 }
 
 /* ************************************************************************* */
 Ordering NonlinearFactorGraph::orderingCOLAMDConstrained(const FastMap<Key, int>& constraints) const
 {
-  return Ordering::COLAMDConstrained(*this, constraints);
+  return Ordering::colamdConstrained(*this, constraints);
 }
 
 /* ************************************************************************* */
diff --git a/gtsam/nonlinear/NonlinearOptimizer.cpp b/gtsam/nonlinear/NonlinearOptimizer.cpp
index 80407a372..00746d9b7 100644
--- a/gtsam/nonlinear/NonlinearOptimizer.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizer.cpp
@@ -109,7 +109,8 @@ VectorValues NonlinearOptimizer::solve(const GaussianFactorGraph &gfg,
     delta = gfg.optimize(*params.ordering, params.getEliminationFunction());
   } else if (params.isSequential()) {
     // Sequential QR or Cholesky (decided by params.getEliminationFunction())
-    delta = gfg.eliminateSequential(*params.ordering, params.getEliminationFunction())->optimize();
+    delta = gfg.eliminateSequential(*params.ordering, params.getEliminationFunction(), 
+								     boost::none, params.orderingType)->optimize();
   } else if (params.isIterative()) {
 
     // Conjugate Gradient -> needs params.iterativeParams
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.cpp b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
index ef0f2aa9b..5a163ffb9 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.cpp
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.cpp
@@ -5,6 +5,7 @@
  * @author Yong-Dian Jian
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Andrew Melim
  */
 
 #include <gtsam/nonlinear/NonlinearOptimizerParams.h>
@@ -107,10 +108,17 @@ void NonlinearOptimizerParams::print(const std::string& str) const {
     break;
   }
 
-  if (ordering)
-    std::cout << "                   ordering: custom\n";
-  else
-    std::cout << "                   ordering: COLAMD\n";
+  switch (orderingType){
+  case Ordering::COLAMD:
+	  std::cout << "                   ordering: COLAMD\n";
+	  break;
+  case Ordering::METIS:
+	  std::cout << "                   ordering: METIS\n";
+	  break;
+  default:
+	  std::cout << "                   ordering: custom\n";
+	  break;
+  }
 
   std::cout.flush();
 }
@@ -155,6 +163,32 @@ NonlinearOptimizerParams::LinearSolverType NonlinearOptimizerParams::linearSolve
   throw std::invalid_argument(
       "Unknown linear solver type in SuccessiveLinearizationOptimizer");
 }
+
 /* ************************************************************************* */
+std::string NonlinearOptimizerParams::orderingTypeTranslator(Ordering::OrderingType type) const{
+	switch (type) {
+	case Ordering::METIS:
+		return "METIS";
+	case Ordering::COLAMD:
+		return "COLAMD";
+	default:
+		if (ordering)
+			return "CUSTOM";
+		else
+			throw std::invalid_argument(
+			"Invalid ordering type: You must provide an ordering for a custom ordering type. See setOrdering");
+	}
+}
+
+/* ************************************************************************* */
+Ordering::OrderingType NonlinearOptimizerParams::orderingTypeTranslator(const std::string& type) const{
+	if (type == "METIS")
+		return Ordering::METIS;
+	if (type == "COLAMD")
+		return Ordering::COLAMD;
+	throw std::invalid_argument(
+		"Invalid ordering type: You must provide an ordering for a custom ordering type. See setOrdering");
+}
+
 
 } // namespace
diff --git a/gtsam/nonlinear/NonlinearOptimizerParams.h b/gtsam/nonlinear/NonlinearOptimizerParams.h
index dafc1f065..10de6994f 100644
--- a/gtsam/nonlinear/NonlinearOptimizerParams.h
+++ b/gtsam/nonlinear/NonlinearOptimizerParams.h
@@ -15,6 +15,7 @@
  * @author Yong-Dian Jian
  * @author Richard Roberts
  * @author Frank Dellaert
+ * @author Andrew Melim
  * @date   Apr 1, 2012
  */
 
@@ -42,11 +43,12 @@ public:
   double absoluteErrorTol; ///< The maximum absolute error decrease to stop iterating (default 1e-5)
   double errorTol; ///< The maximum total error to stop iterating (default 0.0)
   Verbosity verbosity; ///< The printing verbosity during optimization (default SILENT)
+  Ordering::OrderingType orderingType; ///< The method of ordering use during variable elimination (default COLAMD)
 
   NonlinearOptimizerParams() :
       maxIterations(100), relativeErrorTol(1e-5), absoluteErrorTol(1e-5), errorTol(
-          0.0), verbosity(SILENT), linearSolverType(MULTIFRONTAL_CHOLESKY) {
-  }
+          0.0), verbosity(SILENT), orderingType(Ordering::COLAMD),
+          linearSolverType(MULTIFRONTAL_CHOLESKY) {}
 
   virtual ~NonlinearOptimizerParams() {
   }
@@ -152,12 +154,27 @@ public:
 
   void setOrdering(const Ordering& ordering) {
     this->ordering = ordering;
+	  this->orderingType = Ordering::CUSTOM;
+  }
+
+  std::string getOrderingType() const {
+	  return orderingTypeTranslator(orderingType);
+  }
+
+  // Note that if you want to use a custom ordering, you must set the ordering directly, this will switch to custom type
+  void setOrderingType(const std::string& ordering){
+	  orderingType = orderingTypeTranslator(ordering);
   }
 
 private:
   std::string linearSolverTranslator(LinearSolverType linearSolverType) const;
-  LinearSolverType linearSolverTranslator(
-      const std::string& linearSolverType) const;
+
+  LinearSolverType linearSolverTranslator(const std::string& linearSolverType) const;
+
+  std::string orderingTypeTranslator(Ordering::OrderingType type) const;
+
+  Ordering::OrderingType orderingTypeTranslator(const std::string& type) const;
+
 };
 
 // For backward compatibility:
diff --git a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
index ed4b66616..05b0bb49e 100644
--- a/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
+++ b/gtsam_unstable/nonlinear/BatchFixedLagSmoother.cpp
@@ -191,7 +191,7 @@ void BatchFixedLagSmoother::reorder(const std::set<Key>& marginalizeKeys) {
   }
 
   // COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1
-  ordering_ = Ordering::COLAMDConstrainedFirst(factors_, std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end()));
+  ordering_ = Ordering::colamdConstrainedFirst(factors_, std::vector<Key>(marginalizeKeys.begin(), marginalizeKeys.end()));
 
   if(debug) {
     ordering_.print("New Ordering: ");
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
index 3bb9c7e44..fcaae9626 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchFilter.cpp
@@ -362,9 +362,9 @@ void ConcurrentBatchFilter::reorder(const boost::optional<FastList<Key> >& keysT
 
   // COLAMD groups will be used to place marginalize keys in Group 0, and everything else in Group 1
   if(keysToMove && keysToMove->size() > 0) {
-    ordering_ = Ordering::COLAMDConstrainedFirst(factors_, std::vector<Key>(keysToMove->begin(), keysToMove->end()));
+    ordering_ = Ordering::colamdConstrainedFirst(factors_, std::vector<Key>(keysToMove->begin(), keysToMove->end()));
   }else{
-    ordering_ = Ordering::COLAMD(factors_);
+    ordering_ = Ordering::colamd(factors_);
   }
 
 }
diff --git a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
index 8606538bf..0f6515056 100644
--- a/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
+++ b/gtsam_unstable/nonlinear/ConcurrentBatchSmoother.cpp
@@ -231,7 +231,7 @@ void ConcurrentBatchSmoother::reorder() {
   variableIndex_ = VariableIndex(factors_);
 
   FastList<Key> separatorKeys = separatorValues_.keys();
-  ordering_ = Ordering::COLAMDConstrainedLast(variableIndex_, std::vector<Key>(separatorKeys.begin(), separatorKeys.end()));
+  ordering_ = Ordering::colamdConstrainedLast(variableIndex_, std::vector<Key>(separatorKeys.begin(), separatorKeys.end()));
 
 }
 
diff --git a/tests/testNonlinearFactorGraph.cpp b/tests/testNonlinearFactorGraph.cpp
index 9c2eddcc3..f398a33fe 100644
--- a/tests/testNonlinearFactorGraph.cpp
+++ b/tests/testNonlinearFactorGraph.cpp
@@ -79,14 +79,14 @@ TEST( NonlinearFactorGraph, GET_ORDERING)
 {
   Ordering expected; expected += L(1), X(2), X(1); // For starting with l1,x1,x2
   NonlinearFactorGraph nlfg = createNonlinearFactorGraph();
-  Ordering actual = Ordering::COLAMD(nlfg);
+  Ordering actual = Ordering::colamd(nlfg);
   EXPECT(assert_equal(expected,actual));
 
   // Constrained ordering - put x2 at the end
   Ordering expectedConstrained; expectedConstrained += L(1), X(1), X(2);
   FastMap<Key, int> constraints;
   constraints[X(2)] = 1;
-  Ordering actualConstrained = Ordering::COLAMDConstrained(nlfg, constraints);
+  Ordering actualConstrained = Ordering::colamdConstrained(nlfg, constraints);
   EXPECT(assert_equal(expectedConstrained, actualConstrained));
 }