diff --git a/base/Makefile.am b/base/Makefile.am
index b9ccaca34..51109d268 100644
--- a/base/Makefile.am
+++ b/base/Makefile.am
@@ -9,11 +9,11 @@ check_PROGRAMS =
 
 # base Math
 sources += Vector.cpp svdcmp.cpp Matrix.cpp
-check_PROGRAMS += testVector testMatrix
+check_PROGRAMS += tests/testVector tests/testMatrix
 
 if USE_LAPACK
 sources += SPQRUtil.cpp
-check_PROGRAMS += testSPQRUtil
+check_PROGRAMS += tests/testSPQRUtil
 endif
 
 # Testing
@@ -25,10 +25,10 @@ headers += Lie.h Lie-inl.h
 # Data structures
 headers += BTree.h DSF.h
 sources += DSFVector.cpp
-check_PROGRAMS += testBTree testDSF testDSFVector
+check_PROGRAMS += tests/testBTree tests/testDSF tests/testDSFVector
 
 # Timing tests
-noinst_PROGRAMS = timeMatrix
+noinst_PROGRAMS = tests/timeMatrix
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/base/testBTree.cpp b/base/tests/testBTree.cpp
similarity index 100%
rename from base/testBTree.cpp
rename to base/tests/testBTree.cpp
diff --git a/base/testDSF.cpp b/base/tests/testDSF.cpp
similarity index 100%
rename from base/testDSF.cpp
rename to base/tests/testDSF.cpp
diff --git a/base/testDSFVector.cpp b/base/tests/testDSFVector.cpp
similarity index 100%
rename from base/testDSFVector.cpp
rename to base/tests/testDSFVector.cpp
diff --git a/base/testMatrix.cpp b/base/tests/testMatrix.cpp
similarity index 100%
rename from base/testMatrix.cpp
rename to base/tests/testMatrix.cpp
diff --git a/base/testSPQRUtil.cpp b/base/tests/testSPQRUtil.cpp
similarity index 100%
rename from base/testSPQRUtil.cpp
rename to base/tests/testSPQRUtil.cpp
diff --git a/base/testVector.cpp b/base/tests/testVector.cpp
similarity index 100%
rename from base/testVector.cpp
rename to base/tests/testVector.cpp
diff --git a/base/timeMatrix.cpp b/base/tests/timeMatrix.cpp
similarity index 100%
rename from base/timeMatrix.cpp
rename to base/tests/timeMatrix.cpp
diff --git a/geometry/Makefile.am b/geometry/Makefile.am
index 27220a154..f6e66cf9d 100644
--- a/geometry/Makefile.am
+++ b/geometry/Makefile.am
@@ -8,20 +8,20 @@ check_PROGRAMS =
 
 # Points and poses
 sources += Point2.cpp Rot2.cpp Pose2.cpp Point3.cpp Rot3.cpp Pose3.cpp 
-check_PROGRAMS += testPoint2 testRot2 testPose2 testPoint3 testRot3 testPose3
+check_PROGRAMS += tests/testPoint2 tests/testRot2 tests/testPose2 tests/testPoint3 tests/testRot3 tests/testPose3
 
 # Cameras
 sources += Cal3_S2.cpp CalibratedCamera.cpp SimpleCamera.cpp
-check_PROGRAMS += testCal3_S2 testCalibratedCamera testSimpleCamera
+check_PROGRAMS += tests/testCal3_S2 tests/testCalibratedCamera tests/testSimpleCamera
 
 # Tensors
 headers += tensors.h Tensor1.h Tensor2.h Tensor3.h Tensor4.h Tensor5.h
 headers += Tensor1Expression.h Tensor2Expression.h Tensor3Expression.h Tensor5Expression.h
 sources += projectiveGeometry.cpp tensorInterface.cpp
-check_PROGRAMS += testTensors testHomography2 testTrifocal
+check_PROGRAMS += tests/testTensors tests/testHomography2 tests/testTrifocal
 
 # Timing tests
-noinst_PROGRAMS = timeRot3
+noinst_PROGRAMS = tests/timeRot3
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/geometry/testCal3_S2.cpp b/geometry/tests/testCal3_S2.cpp
similarity index 100%
rename from geometry/testCal3_S2.cpp
rename to geometry/tests/testCal3_S2.cpp
diff --git a/geometry/testCalibratedCamera.cpp b/geometry/tests/testCalibratedCamera.cpp
similarity index 100%
rename from geometry/testCalibratedCamera.cpp
rename to geometry/tests/testCalibratedCamera.cpp
diff --git a/geometry/testHomography2.cpp b/geometry/tests/testHomography2.cpp
similarity index 100%
rename from geometry/testHomography2.cpp
rename to geometry/tests/testHomography2.cpp
diff --git a/geometry/testPoint2.cpp b/geometry/tests/testPoint2.cpp
similarity index 100%
rename from geometry/testPoint2.cpp
rename to geometry/tests/testPoint2.cpp
diff --git a/geometry/testPoint3.cpp b/geometry/tests/testPoint3.cpp
similarity index 100%
rename from geometry/testPoint3.cpp
rename to geometry/tests/testPoint3.cpp
diff --git a/geometry/testPose2.cpp b/geometry/tests/testPose2.cpp
similarity index 100%
rename from geometry/testPose2.cpp
rename to geometry/tests/testPose2.cpp
diff --git a/geometry/testPose3.cpp b/geometry/tests/testPose3.cpp
similarity index 100%
rename from geometry/testPose3.cpp
rename to geometry/tests/testPose3.cpp
diff --git a/geometry/testRot2.cpp b/geometry/tests/testRot2.cpp
similarity index 100%
rename from geometry/testRot2.cpp
rename to geometry/tests/testRot2.cpp
diff --git a/geometry/testRot3.cpp b/geometry/tests/testRot3.cpp
similarity index 100%
rename from geometry/testRot3.cpp
rename to geometry/tests/testRot3.cpp
diff --git a/geometry/testSimpleCamera.cpp b/geometry/tests/testSimpleCamera.cpp
similarity index 100%
rename from geometry/testSimpleCamera.cpp
rename to geometry/tests/testSimpleCamera.cpp
diff --git a/geometry/testTensors.cpp b/geometry/tests/testTensors.cpp
similarity index 100%
rename from geometry/testTensors.cpp
rename to geometry/tests/testTensors.cpp
diff --git a/geometry/testTrifocal.cpp b/geometry/tests/testTrifocal.cpp
similarity index 100%
rename from geometry/testTrifocal.cpp
rename to geometry/tests/testTrifocal.cpp
diff --git a/geometry/timeRot3.cpp b/geometry/tests/timeRot3.cpp
similarity index 100%
rename from geometry/timeRot3.cpp
rename to geometry/tests/timeRot3.cpp
diff --git a/inference/Makefile.am b/inference/Makefile.am
index b4f8ed69c..a38dde6ca 100644
--- a/inference/Makefile.am
+++ b/inference/Makefile.am
@@ -13,12 +13,12 @@ check_PROGRAMS =
 # GTSAM core
 headers += Key.h SymbolMap.h Factor.h Conditional.h IndexTable.h 
 sources += Ordering.cpp 
-check_PROGRAMS += testOrdering testKey
+check_PROGRAMS += tests/testOrdering tests/testKey
 
 # Symbolic Inference
 headers += SymbolicConditional.h
 sources += SymbolicFactor.cpp SymbolicFactorGraph.cpp SymbolicBayesNet.cpp
-check_PROGRAMS += testSymbolicFactor testSymbolicFactorGraph testSymbolicBayesNet  
+check_PROGRAMS += tests/testSymbolicFactor tests/testSymbolicFactorGraph tests/testSymbolicBayesNet  
 
 # Inference
 headers += inference.h inference-inl.h
@@ -31,7 +31,7 @@ headers += BayesNet.h BayesNet-inl.h
 headers += BayesTree.h BayesTree-inl.h
 headers += ISAM.h ISAM-inl.h
 headers += ISAM2.h ISAM2-inl.h
-check_PROGRAMS += testFactorGraph testClusterTree testEliminationTree testJunctionTree testBayesTree testISAM
+check_PROGRAMS += tests/testFactorGraph tests/testClusterTree tests/testEliminationTree tests/testJunctionTree tests/testBayesTree tests/testISAM
 
 #----------------------------------------------------------------------------------------------------
 # discrete
@@ -39,10 +39,10 @@ check_PROGRAMS += testFactorGraph testClusterTree testEliminationTree testJuncti
 
 # Binary Inference
 headers += BinaryConditional.h
-check_PROGRAMS += testBinaryBayesNet
+check_PROGRAMS += tests/testBinaryBayesNet
 
 # Timing tests
-noinst_PROGRAMS = timeSymbolMaps
+noinst_PROGRAMS = tests/timeSymbolMaps
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/inference/testBayesTree.cpp b/inference/tests/testBayesTree.cpp
similarity index 100%
rename from inference/testBayesTree.cpp
rename to inference/tests/testBayesTree.cpp
diff --git a/inference/testBinaryBayesNet.cpp b/inference/tests/testBinaryBayesNet.cpp
similarity index 100%
rename from inference/testBinaryBayesNet.cpp
rename to inference/tests/testBinaryBayesNet.cpp
diff --git a/inference/testClusterTree.cpp b/inference/tests/testClusterTree.cpp
similarity index 100%
rename from inference/testClusterTree.cpp
rename to inference/tests/testClusterTree.cpp
diff --git a/inference/testEliminationTree.cpp b/inference/tests/testEliminationTree.cpp
similarity index 100%
rename from inference/testEliminationTree.cpp
rename to inference/tests/testEliminationTree.cpp
diff --git a/inference/testFactorGraph.cpp b/inference/tests/testFactorGraph.cpp
similarity index 100%
rename from inference/testFactorGraph.cpp
rename to inference/tests/testFactorGraph.cpp
diff --git a/inference/testISAM.cpp b/inference/tests/testISAM.cpp
similarity index 100%
rename from inference/testISAM.cpp
rename to inference/tests/testISAM.cpp
diff --git a/inference/testJunctionTree.cpp b/inference/tests/testJunctionTree.cpp
similarity index 100%
rename from inference/testJunctionTree.cpp
rename to inference/tests/testJunctionTree.cpp
diff --git a/inference/testKey.cpp b/inference/tests/testKey.cpp
similarity index 100%
rename from inference/testKey.cpp
rename to inference/tests/testKey.cpp
diff --git a/inference/testOrdering.cpp b/inference/tests/testOrdering.cpp
similarity index 100%
rename from inference/testOrdering.cpp
rename to inference/tests/testOrdering.cpp
diff --git a/inference/testSymbolicBayesNet.cpp b/inference/tests/testSymbolicBayesNet.cpp
similarity index 100%
rename from inference/testSymbolicBayesNet.cpp
rename to inference/tests/testSymbolicBayesNet.cpp
diff --git a/inference/testSymbolicFactor.cpp b/inference/tests/testSymbolicFactor.cpp
similarity index 100%
rename from inference/testSymbolicFactor.cpp
rename to inference/tests/testSymbolicFactor.cpp
diff --git a/inference/testSymbolicFactorGraph.cpp b/inference/tests/testSymbolicFactorGraph.cpp
similarity index 100%
rename from inference/testSymbolicFactorGraph.cpp
rename to inference/tests/testSymbolicFactorGraph.cpp
diff --git a/inference/timeSymbolMaps.cpp b/inference/tests/timeSymbolMaps.cpp
similarity index 100%
rename from inference/timeSymbolMaps.cpp
rename to inference/tests/timeSymbolMaps.cpp
diff --git a/linear/Makefile.am b/linear/Makefile.am
index 43dbd22e5..f3432190e 100644
--- a/linear/Makefile.am
+++ b/linear/Makefile.am
@@ -9,12 +9,12 @@ check_PROGRAMS =
 # Noise Model
 headers += SharedGaussian.h SharedDiagonal.h 
 sources += NoiseModel.cpp Errors.cpp
-check_PROGRAMS += testNoiseModel testErrors
+check_PROGRAMS += tests/testNoiseModel tests/testErrors
 
 # Vector Configurations
 headers += VectorConfig.h 
 sources += VectorMap.cpp VectorBTree.cpp  
-check_PROGRAMS += testVectorMap testVectorBTree  
+check_PROGRAMS += tests/testVectorMap tests/testVectorBTree  
 
 # Gaussian Factor Graphs
 headers += GaussianFactorSet.h Factorization.h
@@ -22,15 +22,15 @@ sources += GaussianFactor.cpp GaussianFactorGraph.cpp
 sources += GaussianJunctionTree.cpp 
 sources += GaussianConditional.cpp GaussianBayesNet.cpp
 sources += GaussianISAM.cpp
-check_PROGRAMS += testGaussianFactor testGaussianJunctionTree testGaussianConditional
+check_PROGRAMS += tests/testGaussianFactor tests/testGaussianJunctionTree tests/testGaussianConditional
 
 # Iterative Methods
 headers += iterative-inl.h SubgraphSolver.h SubgraphSolver-inl.h
 sources += iterative.cpp BayesNetPreconditioner.cpp SubgraphPreconditioner.cpp
-check_PROGRAMS += testBayesNetPreconditioner
+check_PROGRAMS += tests/testBayesNetPreconditioner
 
 # Timing tests
-noinst_PROGRAMS = timeGaussianFactor timeVectorConfig
+noinst_PROGRAMS = tests/timeGaussianFactor tests/timeVectorConfig
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/nonlinear/Makefile.am b/nonlinear/Makefile.am
index 97cd3903d..37949408d 100644
--- a/nonlinear/Makefile.am
+++ b/nonlinear/Makefile.am
@@ -13,7 +13,7 @@ check_PROGRAMS =
 
 # Lie Groups
 headers += LieConfig.h LieConfig-inl.h TupleConfig.h TupleConfig-inl.h
-check_PROGRAMS += testLieConfig 
+check_PROGRAMS += tests/testLieConfig 
 
 # Nonlinear nonlinear 
 headers += NonlinearFactorGraph.h NonlinearFactorGraph-inl.h
@@ -23,11 +23,11 @@ headers += NonlinearFactor.h
 # Nonlinear constraints 
 headers += NonlinearConstraint.h NonlinearConstraint-inl.h
 headers += NonlinearEquality.h
-check_PROGRAMS += testNonlinearConstraint  
+check_PROGRAMS += tests/testNonlinearConstraint  
 
 # SQP
 sources += ConstraintOptimizer.cpp
-check_PROGRAMS += testConstraintOptimizer
+check_PROGRAMS += tests/testConstraintOptimizer
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/nonlinear/testConstraintOptimizer.cpp b/nonlinear/tests/testConstraintOptimizer.cpp
similarity index 100%
rename from nonlinear/testConstraintOptimizer.cpp
rename to nonlinear/tests/testConstraintOptimizer.cpp
diff --git a/nonlinear/testLieConfig.cpp b/nonlinear/tests/testLieConfig.cpp
similarity index 100%
rename from nonlinear/testLieConfig.cpp
rename to nonlinear/tests/testLieConfig.cpp
diff --git a/nonlinear/testNonlinearConstraint.cpp b/nonlinear/tests/testNonlinearConstraint.cpp
similarity index 100%
rename from nonlinear/testNonlinearConstraint.cpp
rename to nonlinear/tests/testNonlinearConstraint.cpp
diff --git a/slam/Makefile.am b/slam/Makefile.am
index 0f8b2df43..76fce1340 100644
--- a/slam/Makefile.am
+++ b/slam/Makefile.am
@@ -11,42 +11,42 @@ headers += Simulated2DConfig.h
 headers += Simulated2DPosePrior.h Simulated2DPointPrior.h 
 headers += Simulated2DOdometry.h Simulated2DMeasurement.h 
 sources += simulated2D.cpp smallExample.cpp
-check_PROGRAMS += testSimulated2D 
+check_PROGRAMS += tests/testSimulated2D 
 
 # simulated2DOriented example
 headers +=  Simulated2DOrientedConfig.h
 headers +=  Simulated2DOrientedPosePrior.h
 headers +=  Simulated2DOrientedOdometry.h
 sources +=  simulated2DOriented.cpp 
-check_PROGRAMS += testSimulated2DOriented
+check_PROGRAMS += tests/testSimulated2DOriented
 
 # simulated3D example
 sources += Simulated3D.cpp 
-check_PROGRAMS += testSimulated3D 
+check_PROGRAMS += tests/testSimulated3D 
 
 # Pose SLAM headers
 headers += BetweenFactor.h PriorFactor.h
 
 # 2D Pose SLAM
 sources += pose2SLAM.cpp Pose2SLAMOptimizer.cpp dataset.cpp
-check_PROGRAMS += testPose2Factor testPose2Config testPose2SLAM testPose2Prior
+check_PROGRAMS += tests/testPose2Factor tests/testPose2Config tests/testPose2SLAM tests/testPose2Prior
 
 # 2D SLAM using Bearing and Range
 headers += BearingFactor.h RangeFactor.h BearingRangeFactor.h
 sources += planarSLAM.cpp
-check_PROGRAMS += testPlanarSLAM
+check_PROGRAMS += tests/testPlanarSLAM
 
 # 3D Pose constraints
 sources += pose3SLAM.cpp 
-check_PROGRAMS += testPose3Factor testPose3Config testPose3SLAM 
+check_PROGRAMS += tests/testPose3Factor tests/testPose3Config tests/testPose3SLAM 
 
 # Visual SLAM
 sources += visualSLAM.cpp
-check_PROGRAMS += testVSLAMFactor testVSLAMGraph testVSLAMConfig
+check_PROGRAMS += tests/testVSLAMFactor tests/testVSLAMGraph tests/testVSLAMConfig
 
 # GaussianISAM2 is fairly SLAM-specific
 sources += GaussianISAM2.cpp
-check_PROGRAMS += testGaussianISAM2
+check_PROGRAMS += tests/testGaussianISAM2
 
 #----------------------------------------------------------------------------------------------------
 # Create a libtool library that is not installed
diff --git a/slam/testGaussianISAM2.cpp b/slam/tests/testGaussianISAM2.cpp
similarity index 100%
rename from slam/testGaussianISAM2.cpp
rename to slam/tests/testGaussianISAM2.cpp
diff --git a/slam/testPlanarSLAM.cpp b/slam/tests/testPlanarSLAM.cpp
similarity index 100%
rename from slam/testPlanarSLAM.cpp
rename to slam/tests/testPlanarSLAM.cpp
diff --git a/slam/testPose2Config.cpp b/slam/tests/testPose2Config.cpp
similarity index 100%
rename from slam/testPose2Config.cpp
rename to slam/tests/testPose2Config.cpp
diff --git a/slam/testPose2Factor.cpp b/slam/tests/testPose2Factor.cpp
similarity index 100%
rename from slam/testPose2Factor.cpp
rename to slam/tests/testPose2Factor.cpp
diff --git a/slam/testPose2Prior.cpp b/slam/tests/testPose2Prior.cpp
similarity index 100%
rename from slam/testPose2Prior.cpp
rename to slam/tests/testPose2Prior.cpp
diff --git a/slam/testPose2SLAM.cpp b/slam/tests/testPose2SLAM.cpp
similarity index 100%
rename from slam/testPose2SLAM.cpp
rename to slam/tests/testPose2SLAM.cpp
diff --git a/slam/testPose3Config.cpp b/slam/tests/testPose3Config.cpp
similarity index 100%
rename from slam/testPose3Config.cpp
rename to slam/tests/testPose3Config.cpp
diff --git a/slam/testPose3Factor.cpp b/slam/tests/testPose3Factor.cpp
similarity index 100%
rename from slam/testPose3Factor.cpp
rename to slam/tests/testPose3Factor.cpp
diff --git a/slam/testPose3SLAM.cpp b/slam/tests/testPose3SLAM.cpp
similarity index 100%
rename from slam/testPose3SLAM.cpp
rename to slam/tests/testPose3SLAM.cpp
diff --git a/slam/testSimulated2D.cpp b/slam/tests/testSimulated2D.cpp
similarity index 100%
rename from slam/testSimulated2D.cpp
rename to slam/tests/testSimulated2D.cpp
diff --git a/slam/testSimulated2DOriented.cpp b/slam/tests/testSimulated2DOriented.cpp
similarity index 100%
rename from slam/testSimulated2DOriented.cpp
rename to slam/tests/testSimulated2DOriented.cpp
diff --git a/slam/testSimulated3D.cpp b/slam/tests/testSimulated3D.cpp
similarity index 100%
rename from slam/testSimulated3D.cpp
rename to slam/tests/testSimulated3D.cpp
diff --git a/slam/testVSLAMConfig.cpp b/slam/tests/testVSLAMConfig.cpp
similarity index 100%
rename from slam/testVSLAMConfig.cpp
rename to slam/tests/testVSLAMConfig.cpp
diff --git a/slam/testVSLAMFactor.cpp b/slam/tests/testVSLAMFactor.cpp
similarity index 100%
rename from slam/testVSLAMFactor.cpp
rename to slam/tests/testVSLAMFactor.cpp
diff --git a/slam/testVSLAMGraph.cpp b/slam/tests/testVSLAMGraph.cpp
similarity index 100%
rename from slam/testVSLAMGraph.cpp
rename to slam/tests/testVSLAMGraph.cpp