diff --git a/.cproject b/.cproject
index cee43f9a7..42bf72538 100644
--- a/.cproject
+++ b/.cproject
@@ -302,6 +302,7 @@
 				<buildTargets>
 					<target name="all" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -309,6 +310,7 @@
 					</target>
 					<target name="clean" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -316,6 +318,7 @@
 					</target>
 					<target name="check" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -323,6 +326,7 @@
 					</target>
 					<target name="testGaussianConditional.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianConditional.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -330,6 +334,7 @@
 					</target>
 					<target name="testGaussianFactor.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -337,6 +342,7 @@
 					</target>
 					<target name="timeGaussianFactor.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -344,6 +350,7 @@
 					</target>
 					<target name="timeVectorConfig.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeVectorConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -351,6 +358,7 @@
 					</target>
 					<target name="testVectorBTree.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testVectorBTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -358,6 +366,7 @@
 					</target>
 					<target name="testVectorMap.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testVectorMap.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -365,6 +374,7 @@
 					</target>
 					<target name="testNoiseModel.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testNoiseModel.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -372,6 +382,7 @@
 					</target>
 					<target name="testBayesNetPreconditioner.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBayesNetPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -379,6 +390,7 @@
 					</target>
 					<target name="testErrors.run" path="linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testErrors.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -386,7 +398,6 @@
 					</target>
 					<target name="check" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -394,7 +405,6 @@
 					</target>
 					<target name="tests/testSPQRUtil.run" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>tests/testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -402,7 +412,6 @@
 					</target>
 					<target name="clean" path="build/base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -410,6 +419,7 @@
 					</target>
 					<target name="check" path="build/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -417,6 +427,7 @@
 					</target>
 					<target name="tests/testGaussianJunctionTree.run" path="build/linear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>tests/testGaussianJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -424,7 +435,6 @@
 					</target>
 					<target name="check" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -432,7 +442,6 @@
 					</target>
 					<target name="clean" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -440,7 +449,6 @@
 					</target>
 					<target name="testBTree.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testBTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -448,7 +456,6 @@
 					</target>
 					<target name="testDSF.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testDSF.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -456,7 +463,6 @@
 					</target>
 					<target name="testDSFVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testDSFVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -464,7 +470,6 @@
 					</target>
 					<target name="testMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -472,7 +477,6 @@
 					</target>
 					<target name="testSPQRUtil.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSPQRUtil.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -480,7 +484,6 @@
 					</target>
 					<target name="testVector.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVector.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -488,7 +491,6 @@
 					</target>
 					<target name="timeMatrix.run" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>timeMatrix.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -496,7 +498,6 @@
 					</target>
 					<target name="all" path="base" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -504,6 +505,7 @@
 					</target>
 					<target name="all" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -511,6 +513,7 @@
 					</target>
 					<target name="clean" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -526,6 +529,7 @@
 					</target>
 					<target name="testBayesTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBayesTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -533,6 +537,7 @@
 					</target>
 					<target name="testBinaryBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testBinaryBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -540,6 +545,7 @@
 					</target>
 					<target name="testFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -547,6 +553,7 @@
 					</target>
 					<target name="testISAM.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -554,6 +561,7 @@
 					</target>
 					<target name="testJunctionTree.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -561,6 +569,7 @@
 					</target>
 					<target name="testKey.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testKey.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -568,6 +577,7 @@
 					</target>
 					<target name="testOrdering.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testOrdering.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -575,6 +585,7 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -582,6 +593,7 @@
 					</target>
 					<target name="testSymbolicFactor.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -589,6 +601,7 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -596,6 +609,7 @@
 					</target>
 					<target name="timeSymbolMaps.run" path="inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeSymbolMaps.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -603,6 +617,7 @@
 					</target>
 					<target name="check" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -610,6 +625,7 @@
 					</target>
 					<target name="testClusterTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testClusterTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -617,6 +633,7 @@
 					</target>
 					<target name="testJunctionTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -624,6 +641,7 @@
 					</target>
 					<target name="testEliminationTree.run" path="build/inference" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testEliminationTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -631,7 +649,6 @@
 					</target>
 					<target name="check" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -639,7 +656,6 @@
 					</target>
 					<target name="testGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -647,7 +663,6 @@
 					</target>
 					<target name="testGaussianISAM.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianISAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -655,7 +670,6 @@
 					</target>
 					<target name="testGaussianISAM2.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianISAM2.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -663,7 +677,6 @@
 					</target>
 					<target name="testGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -671,7 +684,6 @@
 					</target>
 					<target name="testIterative.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testIterative.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -679,7 +691,6 @@
 					</target>
 					<target name="testNonlinearEquality.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearEquality.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -687,7 +698,6 @@
 					</target>
 					<target name="testNonlinearFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -695,7 +705,6 @@
 					</target>
 					<target name="testNonlinearFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -703,7 +712,6 @@
 					</target>
 					<target name="testNonlinearOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testNonlinearOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -711,7 +719,6 @@
 					</target>
 					<target name="testSQP.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSQP.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -719,7 +726,6 @@
 					</target>
 					<target name="testSubgraphPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSubgraphPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -727,7 +733,6 @@
 					</target>
 					<target name="testTupleConfig.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testTupleConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -735,7 +740,6 @@
 					</target>
 					<target name="timeGaussianFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>timeGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -743,7 +747,6 @@
 					</target>
 					<target name="testBayesNetPreconditioner.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testBayesNetPreconditioner.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -751,7 +754,6 @@
 					</target>
 					<target name="testConstraintOptimizer.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testConstraintOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -759,7 +761,6 @@
 					</target>
 					<target name="testInference.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testInference.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -767,7 +768,6 @@
 					</target>
 					<target name="testGaussianBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -775,7 +775,6 @@
 					</target>
 					<target name="testGaussianFactor.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testGaussianFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -783,7 +782,6 @@
 					</target>
 					<target name="testJunctionTree.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -791,7 +789,6 @@
 					</target>
 					<target name="testSymbolicBayesNet.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicBayesNet.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -799,7 +796,6 @@
 					</target>
 					<target name="testSymbolicFactorGraph.run" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSymbolicFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -807,6 +803,7 @@
 					</target>
 					<target name="clean" path="tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -814,6 +811,7 @@
 					</target>
 					<target name="all" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -821,6 +819,7 @@
 					</target>
 					<target name="testNonlinearConstraint.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testNonlinearConstraint.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -828,6 +827,7 @@
 					</target>
 					<target name="testLieConfig.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testLieConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -835,6 +835,7 @@
 					</target>
 					<target name="testConstraintOptimizer.run" path="nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testConstraintOptimizer.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -842,6 +843,7 @@
 					</target>
 					<target name="install" path="CCOLAMD" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>install</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -849,6 +851,7 @@
 					</target>
 					<target name="clean" path="CCOLAMD" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -856,7 +859,6 @@
 					</target>
 					<target name="all" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -864,7 +866,6 @@
 					</target>
 					<target name="clean" path="colamd" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -872,7 +873,6 @@
 					</target>
 					<target name="all" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -880,7 +880,6 @@
 					</target>
 					<target name="clean" path="ldl" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -888,7 +887,6 @@
 					</target>
 					<target name="all" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -896,7 +894,6 @@
 					</target>
 					<target name="clean" path="CppUnitLite" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -904,6 +901,7 @@
 					</target>
 					<target name="all" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -911,6 +909,7 @@
 					</target>
 					<target name="clean" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -918,7 +917,6 @@
 					</target>
 					<target name="rebuild" path="spqr_mini" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -926,7 +924,6 @@
 					</target>
 					<target name="all" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -934,7 +931,6 @@
 					</target>
 					<target name="check" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -942,7 +938,6 @@
 					</target>
 					<target name="clean" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -950,7 +945,6 @@
 					</target>
 					<target name="testPlanarSLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPlanarSLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -958,7 +952,6 @@
 					</target>
 					<target name="testPose2Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -966,7 +959,6 @@
 					</target>
 					<target name="testPose2Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -974,7 +966,6 @@
 					</target>
 					<target name="testPose2Prior.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2Prior.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -982,7 +973,6 @@
 					</target>
 					<target name="testPose2SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose2SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -990,7 +980,6 @@
 					</target>
 					<target name="testPose3Config.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3Config.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -998,7 +987,6 @@
 					</target>
 					<target name="testPose3SLAM.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3SLAM.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1006,7 +994,6 @@
 					</target>
 					<target name="testSimulated2DOriented.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2DOriented.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1014,7 +1001,6 @@
 					</target>
 					<target name="testVSLAMConfig.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1022,7 +1008,6 @@
 					</target>
 					<target name="testVSLAMFactor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMFactor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1030,7 +1015,6 @@
 					</target>
 					<target name="testVSLAMGraph.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testVSLAMGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1038,7 +1022,6 @@
 					</target>
 					<target name="testPose3Factor.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testPose3Factor.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1046,7 +1029,6 @@
 					</target>
 					<target name="testSimulated2D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated2D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1054,7 +1036,6 @@
 					</target>
 					<target name="testSimulated3D.run" path="slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testSimulated3D.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>false</useDefaultCommand>
@@ -1062,7 +1043,6 @@
 					</target>
 					<target name="check" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1070,6 +1050,7 @@
 					</target>
 					<target name="timeCalibratedCamera.run" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeCalibratedCamera.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1077,6 +1058,7 @@
 					</target>
 					<target name="timeRot3.run" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeRot3.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1084,6 +1066,7 @@
 					</target>
 					<target name="clean" path="build/geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1091,15 +1074,6 @@
 					</target>
 					<target name="check" path="build/slam" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1123,11 +1097,111 @@
 					</target>
 					<target name="clean" path="wrap" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
+					<target name="check" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="tests/testLieConfig.run" path="build/nonlinear" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildArguments/>
+						<buildTarget>tests/testLieConfig.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testRot3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testRot2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPose3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>timeRot3.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPose2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testCal3_S2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testSimpleCamera.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testHomography2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testCalibratedCamera.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>check</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>clean</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
+					<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+						<buildCommand>make</buildCommand>
+						<buildTarget>testPoint2.run</buildTarget>
+						<stopOnError>true</stopOnError>
+						<useDefaultCommand>true</useDefaultCommand>
+						<runAllBuilders>true</runAllBuilders>
+					</target>
 					<target name="install" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
 						<buildArguments>-j2</buildArguments>
@@ -1154,7 +1228,6 @@
 					</target>
 					<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1162,110 +1235,14 @@
 					</target>
 					<target name="dist" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>dist</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
 						<runAllBuilders>true</runAllBuilders>
 					</target>
-					<target name="testRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testRot3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testRot2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testRot2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPose3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPose3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="timeRot3.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>timeRot3.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPose2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPose2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testCal3_S2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testCal3_S2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testSimpleCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testSimpleCamera.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testHomography2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testHomography2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testCalibratedCamera.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testCalibratedCamera.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="check" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>check</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="clean" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>clean</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
-					<target name="testPoint2.run" path="geometry" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
-						<buildCommand>make</buildCommand>
-						<buildArguments/>
-						<buildTarget>testPoint2.run</buildTarget>
-						<stopOnError>true</stopOnError>
-						<useDefaultCommand>true</useDefaultCommand>
-						<runAllBuilders>true</runAllBuilders>
-					</target>
 					<target name="check" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1273,6 +1250,7 @@
 					</target>
 					<target name="testGaussianJunctionTree.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianJunctionTree.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1280,6 +1258,7 @@
 					</target>
 					<target name="testGaussianFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>testGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1287,6 +1266,7 @@
 					</target>
 					<target name="timeGaussianFactorGraph.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>timeGaussianFactorGraph.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1294,7 +1274,6 @@
 					</target>
 					<target name="testTupleConfig.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testTupleConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1302,7 +1281,6 @@
 					</target>
 					<target name="testFusionTupleConfig.run" path="build/tests" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
-						<buildArguments/>
 						<buildTarget>testFusionTupleConfig.run</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1310,6 +1288,7 @@
 					</target>
 					<target name="check" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>check</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1317,6 +1296,7 @@
 					</target>
 					<target name="clean" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>clean</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1324,6 +1304,7 @@
 					</target>
 					<target name="install" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>install</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
@@ -1331,6 +1312,7 @@
 					</target>
 					<target name="all" path="build" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
 						<buildCommand>make</buildCommand>
+						<buildArguments/>
 						<buildTarget>all</buildTarget>
 						<stopOnError>true</stopOnError>
 						<useDefaultCommand>true</useDefaultCommand>
diff --git a/nonlinear/FusionTupleConfig.h b/nonlinear/FusionTupleConfig.h
index b9298b29c..e96162200 100644
--- a/nonlinear/FusionTupleConfig.h
+++ b/nonlinear/FusionTupleConfig.h
@@ -14,11 +14,11 @@
 #include <boost/fusion/include/at_key.hpp>
 #include <boost/fusion/include/has_key.hpp>
 #include <boost/fusion/include/zip.hpp>
+#include <boost/fusion/algorithm/transformation.hpp>
 #include <boost/fusion/algorithm/iteration.hpp>
 #include <boost/fusion/algorithm/query.hpp>
 #include <boost/fusion/functional/adapter/fused_function_object.hpp>
 
-
 #include "Testable.h"
 #include "LieConfig.h"
 
@@ -50,13 +50,11 @@ public:
 	/** direct initialization of the underlying structure */
 	FusionTupleConfig(const Configs& cfg_set) : base_tuple_(cfg_set) {}
 
-	/** initialization by slicing a larger config - BROKEN */
+	/** initialization from arbitrary other configs */
 	template<class Configs2>
 	FusionTupleConfig(const FusionTupleConfig<Configs2>& other)
-		//: base_tuple_(other.base_tuple()) // fails
+		: base_tuple_(boost::fusion::fold(other.base_tuple(), Configs(), assign_outer<Configs>()))
 	{
-//		this->base_tuple_ = other.base_tuple(); // fails
-//		Configs val = other.base_tuple(); // also fails
 	}
 
 	virtual ~FusionTupleConfig() {}
@@ -102,15 +100,16 @@ public:
 
 	/** equals */
 	bool equals(const FusionTupleConfig<Configs>& other, double tol=1e-9) const {
+		FusionTupleConfig<Configs>::equals_helper helper(tol);
 		return boost::fusion::all(
 				boost::fusion::zip(
 						boost::fusion::as_vector(base_tuple_),
 						boost::fusion::as_vector(other.base_tuple_)),
-				FusionTupleConfig<Configs>::equals_helper(tol));
+						helper);
 	}
 
 	/** direct access to the underlying fusion set - don't use this */
-	const Configs & base_tuple() const { return base_tuple_; }
+	const BaseTuple & base_tuple() const { return base_tuple_; }
 
 private:
 
@@ -155,6 +154,33 @@ private:
 	    }
 	};
 
+	/** two separate function objects for arbitrary copy construction */
+	template<typename Ret, typename Config>
+	struct assign_inner {
+		typedef Ret result_type;
+
+		Config config;
+		assign_inner(const Config& cfg) : config(cfg) {}
+
+		template<typename T>
+		result_type operator()(const T& t, const result_type& s) const {
+			result_type new_s(s);
+			T new_cfg(config);
+			if (!new_cfg.empty()) boost::fusion::at_key<T>(new_s) = new_cfg;
+			return new_s;
+		}
+	};
+
+	template<typename Ret>
+	struct assign_outer {
+		typedef Ret result_type;
+
+		template<typename T> // T is the config from the "other" config
+		Ret operator()(const T& t, const Ret& s) const {
+			assign_inner<Ret, T> helper(t);
+			return boost::fusion::fold(s, s, helper); // loop over the "self" config
+		}
+	};
 };
 
 
diff --git a/nonlinear/LieConfig.h b/nonlinear/LieConfig.h
index cd59a2cfa..ef93aae62 100644
--- a/nonlinear/LieConfig.h
+++ b/nonlinear/LieConfig.h
@@ -58,6 +58,8 @@ namespace gtsam {
     LieConfig() {}
     LieConfig(const LieConfig& config) :
       values_(config.values_) {}
+    template<class J_alt, class T_alt>
+    LieConfig(const LieConfig<J_alt,T_alt>& other) {} // do nothing when initializing with wrong type
     virtual ~LieConfig() {}
 
     /** print */
diff --git a/nonlinear/tests/testLieConfig.cpp b/nonlinear/tests/testLieConfig.cpp
index e55126f08..0fc824573 100644
--- a/nonlinear/tests/testLieConfig.cpp
+++ b/nonlinear/tests/testLieConfig.cpp
@@ -230,6 +230,29 @@ TEST(LieConfig, update)
 	expected.insert("v2", Vector_(1, -2.));
 	CHECK(assert_equal(expected,config0));
 }
+
+/* ************************************************************************* */
+TEST(LieConfig, dummy_initialization)
+{
+	typedef TypedSymbol<Vector, 'z'> Key;
+	typedef LieConfig<Key,Vector> Config1;
+	typedef LieConfig<string,Vector> Config2;
+
+	Config1 init1;
+	init1.insert(Key(1), Vector_(2, 1.0, 2.0));
+	init1.insert(Key(2), Vector_(2, 4.0, 3.0));
+
+	Config2 init2;
+	init2.insert("v1", Vector_(2, 1.0, 2.0));
+	init2.insert("v2", Vector_(2, 4.0, 3.0));
+
+	Config1 actual1(init2);
+	Config2 actual2(init1);
+
+	EXPECT(actual1.empty());
+	EXPECT(actual2.empty());
+}
+
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */
diff --git a/tests/testFusionTupleConfig.cpp b/tests/testFusionTupleConfig.cpp
index 07a348532..789c25ecb 100644
--- a/tests/testFusionTupleConfig.cpp
+++ b/tests/testFusionTupleConfig.cpp
@@ -3,13 +3,15 @@
  * @author Alex Cunningham
  */
 
+#include <iostream>
+
 #include <CppUnitLite/TestHarness.h>
 
 #include <Pose2.h>
 #include <Point2.h>
 #include <Pose3.h>
 #include <Point3.h>
-#include "Key.h"
+#include <Key.h>
 #include <LieConfig-inl.h>
 
 #include <FusionTupleConfig.h>
@@ -126,8 +128,8 @@ TEST( testFusionTupleConfig, slicing ) {
 	cfg_pair.insert(l2, l2_val);
 
 	// initialize configs by slicing a larger config
-	TupPointConfig cfg_point(cfg_pair);
 	TupPoseConfig cfg_pose(cfg_pair);
+	TupPointConfig cfg_point(cfg_pair);
 
 	PointConfig expPointConfig;
 	expPointConfig.insert(l1, l1_val);
@@ -137,9 +139,19 @@ TEST( testFusionTupleConfig, slicing ) {
 	expPoseConfig.insert(x1, x1_val);
 	expPoseConfig.insert(x2, x2_val);
 
-	// verify - slicing at initialization isn't implemented
-//	EXPECT(assert_equal(expPointConfig, cfg_point.config<PointConfig>()));
-//	EXPECT(assert_equal(expPoseConfig, cfg_pose.config<PoseConfig>()));
+	// verify
+	EXPECT(assert_equal(expPointConfig, cfg_point.config<PointConfig>()));
+	EXPECT(assert_equal(expPoseConfig, cfg_pose.config<PoseConfig>()));
+}
+
+/* ************************************************************************* */
+TEST( testFusionTupleConfig, upgrading ) {
+	TupPoseConfig small;
+	small.insert(x1, x1_val);
+
+	TupPairConfig actual(small);
+	EXPECT(actual.size() == 1);
+	EXPECT(assert_equal(x1_val, actual.at(x1), tol));
 }
 
 /* ************************************************************************* */
@@ -167,29 +179,6 @@ TEST( testFusionTupleConfig, equals ) {
 	EXPECT(assert_equal(c5, c6, 1e-5));
 }
 
-/* ************************************************************************* */
-TEST( testFusionTupleConfig, fusion_slicing ) {
-	typedef fusion::set<int, double, bool> Set1;
-	typedef fusion::set<double> Set2;
-	Set1 s1(1, 2.0, true);
-
-	// assignment
-	EXPECT(fusion::at_key<int>(s1) == 1);
-	fusion::at_key<int>(s1) = 2;
-	EXPECT(fusion::at_key<int>(s1) == 2);
-
-	// slicing: big set sliced to a small set
-	Set2 s2 = s1; // by assignment
-	EXPECT_DOUBLES_EQUAL(2.0, fusion::at_key<double>(s2), tol);
-
-	Set2 s3(s1); // by initialization
-	EXPECT_DOUBLES_EQUAL(2.0, fusion::at_key<double>(s3), tol);
-
-	// upgrading: small set initializing a big set
-//	Set2 s3(5);
-//	Set1 s4 = s3; // apparently can't do this
-}
-
 /* ************************************************************************* */
 int main() { TestResult tr; return TestRegistry::runAllTests(tr); }
 /* ************************************************************************* */