diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0d77f39..6059710 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,659 +15,11 @@ ELSE()
     set( ONDSELSOLVER_BUILD_SHARED OFF )
 ENDIF ()
 
-if ( ONDSELSOLVER_BUILD_SHARED )
-    message( STATUS "[OndselSolver] Building shared library" )
-    add_library(OndselSolver SHARED)
-else()
-    message( STATUS "[OndselSolver] Building static library" )
-    add_library(OndselSolver STATIC)
-endif()
-
-
-set(ONDSELSOLVER_SRC
-        OndselSolver/Abs.cpp
-        OndselSolver/AbsConstraint.cpp
-        OndselSolver/AccICKineNewtonRaphson.cpp
-        OndselSolver/AccICNewtonRaphson.cpp
-        OndselSolver/AccKineNewtonRaphson.cpp
-        OndselSolver/AccNewtonRaphson.cpp
-        OndselSolver/AllowZRotation.cpp
-        OndselSolver/AllowZRotationConstraintIqctJqc.cpp
-        OndselSolver/AngleJoint.cpp
-        OndselSolver/AngleZConstraintIJ.cpp
-        OndselSolver/AngleZConstraintIqcJc.cpp
-        OndselSolver/AngleZConstraintIqcJqc.cpp
-        OndselSolver/AngleZIecJec.cpp
-        OndselSolver/AngleZIeqcJec.cpp
-        OndselSolver/AngleZIeqcJeqc.cpp
-        OndselSolver/AnyGeneralSpline.cpp
-        OndselSolver/AnyPosICNewtonRaphson.cpp
-        OndselSolver/ArcSine.cpp
-        OndselSolver/ArcTan.cpp
-        OndselSolver/ArcTan2.cpp
-        OndselSolver/Arguments.cpp
-        OndselSolver/Array.cpp
-        OndselSolver/ASMTAllowRotation.cpp
-        OndselSolver/ASMTAngleJoint.cpp
-        OndselSolver/ASMTAnimationParameters.cpp
-        OndselSolver/ASMTAssembly.cpp
-        OndselSolver/ASMTConeConeContact.cpp
-        OndselSolver/ASMTContact.cpp
-        OndselSolver/ASMTCylConeContact.cpp
-        OndselSolver/ASMTCylCylContact.cpp
-        OndselSolver/ASMTCompoundJoint.cpp
-        OndselSolver/ASMTConstantGravity.cpp
-        OndselSolver/ASMTConstantVelocityJoint.cpp
-        OndselSolver/ASMTConstraintSet.cpp
-        OndselSolver/ASMTCylindricalJoint.cpp
-        OndselSolver/ASMTCylSphJoint.cpp
-        OndselSolver/ASMTExtrusion.cpp
-        OndselSolver/ASMTFixedJoint.cpp
-        OndselSolver/ASMTForceTorque.cpp
-        OndselSolver/ASMTGearJoint.cpp
-        OndselSolver/ASMTGeneralMotion.cpp
-        OndselSolver/ASMTInPlaneJoint.cpp
-        OndselSolver/ASMTItem.cpp
-        OndselSolver/ASMTItemIJ.cpp
-        OndselSolver/ASMTJoint.cpp
-        OndselSolver/ASMTKinematicIJ.cpp
-        OndselSolver/ASMTLimit.cpp
-        OndselSolver/ASMTLineInPlaneJoint.cpp
-        OndselSolver/ASMTMarker.cpp
-        OndselSolver/ASMTMotion.cpp
-        OndselSolver/ASMTNoRotationJoint.cpp
-        OndselSolver/ASMTParallelAxesJoint.cpp
-        OndselSolver/ASMTPart.cpp
-        OndselSolver/ASMTPerpendicularJoint.cpp
-        OndselSolver/ASMTPlanarJoint.cpp
-        OndselSolver/ASMTPointInLineJoint.cpp
-        OndselSolver/ASMTPointInPlaneJoint.cpp
-        OndselSolver/ASMTPrincipalMassMarker.cpp
-        OndselSolver/ASMTRackPinionJoint.cpp
-        OndselSolver/ASMTRefCurve.cpp
-        OndselSolver/ASMTRefItem.cpp
-        OndselSolver/ASMTRefPoint.cpp
-        OndselSolver/ASMTRefSurface.cpp
-        OndselSolver/ASMTRevCylJoint.cpp
-        OndselSolver/ASMTRevoluteJoint.cpp
-        OndselSolver/ASMTRevRevJoint.cpp
-        OndselSolver/ASMTRotationalMotion.cpp
-        OndselSolver/ASMTRotationLimit.cpp
-        OndselSolver/ASMTScrewJoint.cpp
-        OndselSolver/ASMTSimulationParameters.cpp
-        OndselSolver/ASMTSpatialContainer.cpp
-        OndselSolver/ASMTSpatialItem.cpp
-        OndselSolver/ASMTSphericalJoint.cpp
-        OndselSolver/ASMTSphSphJoint.cpp
-        OndselSolver/ASMTTime.cpp
-        OndselSolver/ASMTTranslationalJoint.cpp
-        OndselSolver/ASMTTranslationalMotion.cpp
-        OndselSolver/ASMTTranslationLimit.cpp
-        OndselSolver/ASMTUniversalJoint.cpp
-        OndselSolver/AtPointConstraintIJ.cpp
-        OndselSolver/AtPointConstraintIqcJc.cpp
-        OndselSolver/AtPointConstraintIqcJqc.cpp
-        OndselSolver/AtPointConstraintIqctJqc.cpp
-        OndselSolver/AtPointJoint.cpp
-        OndselSolver/BasicIntegrator.cpp
-        OndselSolver/BasicQuasiIntegrator.cpp
-        OndselSolver/BasicUserFunction.cpp
-        OndselSolver/CADSystem.cpp
-        OndselSolver/CartesianFrame.cpp
-        OndselSolver/CompoundJoint.cpp
-        OndselSolver/Constant.cpp
-        OndselSolver/ConstantGravity.cpp
-        OndselSolver/ConstantVelocityJoint.cpp
-        OndselSolver/Constraint.cpp
-        OndselSolver/ConstraintIJ.cpp
-        OndselSolver/ConstraintSet.cpp
-        OndselSolver/ConstVelConstraintIJ.cpp
-        OndselSolver/ConstVelConstraintIqcJc.cpp
-        OndselSolver/ConstVelConstraintIqcJqc.cpp
-        OndselSolver/Cosine.cpp
-        OndselSolver/CREATE.cpp
-        OndselSolver/CylindricalJoint.cpp
-        OndselSolver/CylSphJoint.cpp
-        OndselSolver/DiagonalMatrix.cpp
-        OndselSolver/DifferenceOperator.cpp
-        OndselSolver/DifferentiatedGeneralSpline.cpp
-        OndselSolver/DirectionCosineConstraintIJ.cpp
-        OndselSolver/DirectionCosineConstraintIqcJc.cpp
-        OndselSolver/DirectionCosineConstraintIqcJqc.cpp
-        OndselSolver/DirectionCosineConstraintIqctJqc.cpp
-        OndselSolver/DirectionCosineIecJec.cpp
-        OndselSolver/DirectionCosineIeqcJec.cpp
-        OndselSolver/DirectionCosineIeqcJeqc.cpp
-        OndselSolver/DirectionCosineIeqctJeqc.cpp
-        OndselSolver/DiscontinuityError.cpp
-        OndselSolver/DispCompIecJecIe.cpp
-        OndselSolver/DispCompIecJecKec.cpp
-        OndselSolver/DispCompIecJecKeqc.cpp
-        OndselSolver/DispCompIecJecO.cpp
-        OndselSolver/DispCompIeqcJecIe.cpp
-        OndselSolver/DispCompIeqcJecKeqc.cpp
-        OndselSolver/DispCompIeqcJecO.cpp
-        OndselSolver/DispCompIeqcJeqcIe.cpp
-        OndselSolver/DispCompIeqcJeqcKeqc.cpp
-        OndselSolver/DispCompIeqcJeqcKeqct.cpp
-        OndselSolver/DispCompIeqcJeqcO.cpp
-        OndselSolver/DispCompIeqctJeqcIe.cpp
-        OndselSolver/DispCompIeqctJeqcKeqct.cpp
-        OndselSolver/DispCompIeqctJeqcO.cpp
-        OndselSolver/DistanceConstraintIJ.cpp
-        OndselSolver/DistanceConstraintIqcJc.cpp
-        OndselSolver/DistanceConstraintIqcJqc.cpp
-        OndselSolver/DistanceConstraintIqctJqc.cpp
-        OndselSolver/DistancexyConstraintIJ.cpp
-        OndselSolver/DistancexyConstraintIqcJc.cpp
-        OndselSolver/DistancexyConstraintIqcJqc.cpp
-        OndselSolver/DistIecJec.cpp
-        OndselSolver/DistIeqcJec.cpp
-        OndselSolver/DistIeqcJeqc.cpp
-        OndselSolver/DistIeqctJeqc.cpp
-        OndselSolver/DistxyIecJec.cpp
-        OndselSolver/DistxyIeqcJec.cpp
-        OndselSolver/DistxyIeqcJeqc.cpp
-        OndselSolver/DistxyIeqctJeqc.cpp
-        OndselSolver/EigenDecomposition.cpp
-        OndselSolver/EndFramec.cpp
-        OndselSolver/EndFrameqc.cpp
-        OndselSolver/EndFrameqct.cpp
-        OndselSolver/EndFrameqct2.cpp
-        OndselSolver/EulerAngles.cpp
-        OndselSolver/EulerAnglesDDot.cpp
-        OndselSolver/EulerAnglesDot.cpp
-        OndselSolver/EulerAngleszxz.cpp
-        OndselSolver/EulerAngleszxzDDot.cpp
-        OndselSolver/EulerAngleszxzDot.cpp
-        OndselSolver/EulerArray.cpp
-        OndselSolver/EulerConstraint.cpp
-        OndselSolver/EulerParameters.cpp
-        OndselSolver/EulerParametersDDot.cpp
-        OndselSolver/EulerParametersDot.cpp
-        OndselSolver/Exponential.cpp
-        OndselSolver/ExpressionX.cpp
-        OndselSolver/ExternalSystem.cpp
-        OndselSolver/FixedJoint.cpp
-        OndselSolver/ForceTorqueData.cpp
-        OndselSolver/ForceTorqueItem.cpp
-        OndselSolver/FullColumn.cpp
-        OndselSolver/FullMatrix.cpp
-        OndselSolver/FullMotion.cpp
-        OndselSolver/FullRow.cpp
-        OndselSolver/FullVector.cpp
-        OndselSolver/Function.cpp
-        OndselSolver/FunctionFromData.cpp
-        OndselSolver/FunctionWithManyArgs.cpp
-        OndselSolver/FunctionX.cpp
-        OndselSolver/FunctionXcParameter.cpp
-        OndselSolver/FunctionXY.cpp
-        OndselSolver/GearConstraintIJ.cpp
-        OndselSolver/GearConstraintIqcJc.cpp
-        OndselSolver/GearConstraintIqcJqc.cpp
-        OndselSolver/GearJoint.cpp
-        OndselSolver/GEFullMat.cpp
-        OndselSolver/GEFullMatFullPv.cpp
-        OndselSolver/GEFullMatParPv.cpp
-        OndselSolver/GeneralSpline.cpp
-        OndselSolver/GESpMat.cpp
-        OndselSolver/GESpMatFullPv.cpp
-        OndselSolver/GESpMatFullPvPosIC.cpp
-        OndselSolver/GESpMatParPv.cpp
-        OndselSolver/GESpMatParPvMarko.cpp
-        OndselSolver/GESpMatParPvMarkoFast.cpp
-        OndselSolver/GESpMatParPvPrecise.cpp
-        OndselSolver/ICKineIntegrator.cpp
-        OndselSolver/IndependentVariable.cpp
-        OndselSolver/InLineJoint.cpp
-        OndselSolver/InPlaneJoint.cpp
-        OndselSolver/Integral.cpp
-        OndselSolver/Integrator.cpp
-        OndselSolver/IntegratorInterface.cpp
-        OndselSolver/Item.cpp
-        OndselSolver/ItemIJ.cpp
-        OndselSolver/Joint.cpp
-        OndselSolver/KineIntegrator.cpp
-        OndselSolver/KinematicIeJe.cpp
-        OndselSolver/LDUFullMat.cpp
-        OndselSolver/LDUFullMatParPv.cpp
-        OndselSolver/LDUSpMat.cpp
-        OndselSolver/LDUSpMatParPv.cpp
-        OndselSolver/LDUSpMatParPvMarko.cpp
-        OndselSolver/LDUSpMatParPvPrecise.cpp
-        OndselSolver/LimitIJ.cpp
-        OndselSolver/LinearMultiStepMethod.cpp
-        OndselSolver/LineInPlaneJoint.cpp
-        OndselSolver/Ln.cpp
-        OndselSolver/Log10.cpp
-        OndselSolver/LogN.cpp
-        OndselSolver/MarkerFrame.cpp
-        OndselSolver/MatrixDecomposition.cpp
-        OndselSolver/MatrixGaussElimination.cpp
-        OndselSolver/MatrixLDU.cpp
-        OndselSolver/MatrixSolver.cpp
-        OndselSolver/MaximumIterationError.cpp
-        OndselSolver/MbDMath.cpp
-        OndselSolver/MomentOfInertiaSolver.cpp
-        OndselSolver/Negative.cpp
-        OndselSolver/NewtonRaphson.cpp
-        OndselSolver/NewtonRaphsonError.cpp
-        OndselSolver/NoRotationJoint.cpp
-        OndselSolver/NotKinematicError.cpp
-        OndselSolver/Numeric.cpp
-        OndselSolver/OrbitAngleZIecJec.cpp
-        OndselSolver/OrbitAngleZIeqcJec.cpp
-        OndselSolver/OrbitAngleZIeqcJeqc.cpp
-        OndselSolver/Orientation.cpp
-        OndselSolver/ParallelAxesJoint.cpp
-        OndselSolver/Part.cpp
-        OndselSolver/PartFrame.cpp
-        OndselSolver/PerpendicularJoint.cpp
-        OndselSolver/PiecewiseFunction.cpp
-        OndselSolver/PlanarJoint.cpp
-        OndselSolver/PointInLineJoint.cpp
-        OndselSolver/PointInPlaneJoint.cpp
-        OndselSolver/Polynomial.cpp
-        OndselSolver/PosICDragLimitNewtonRaphson.cpp
-        OndselSolver/PosICDragNewtonRaphson.cpp
-        OndselSolver/PosICKineNewtonRaphson.cpp
-        OndselSolver/PosICNewtonRaphson.cpp
-        OndselSolver/PosKineNewtonRaphson.cpp
-        OndselSolver/PosNewtonRaphson.cpp
-        OndselSolver/PosVelAccData.cpp
-        OndselSolver/Power.cpp
-        OndselSolver/PrescribedMotion.cpp
-        OndselSolver/Product.cpp
-        OndselSolver/QuasiIntegrator.cpp
-        OndselSolver/RackPinConstraintIJ.cpp
-        OndselSolver/RackPinConstraintIqcJc.cpp
-        OndselSolver/RackPinConstraintIqcJqc.cpp
-        OndselSolver/RackPinJoint.cpp
-        OndselSolver/RampStepFunction.cpp
-        OndselSolver/Reciprocal.cpp
-        OndselSolver/RedundantConstraint.cpp
-        OndselSolver/RevCylJoint.cpp
-        OndselSolver/RevoluteJoint.cpp
-        OndselSolver/RevRevJoint.cpp
-        OndselSolver/RotationLimitIJ.cpp
-        OndselSolver/RowTypeMatrix.cpp
-        OndselSolver/ScalarNewtonRaphson.cpp
-        OndselSolver/ScrewConstraintIJ.cpp
-        OndselSolver/ScrewConstraintIqcJc.cpp
-        OndselSolver/ScrewConstraintIqcJqc.cpp
-        OndselSolver/ScrewJoint.cpp
-        OndselSolver/SimulationStoppingError.cpp
-        OndselSolver/Sine.cpp
-        OndselSolver/SingularMatrixError.cpp
-        OndselSolver/Solver.cpp
-        OndselSolver/SparseColumn.cpp
-        OndselSolver/SparseMatrix.cpp
-        OndselSolver/SparseRow.cpp
-        OndselSolver/SparseVector.cpp
-        OndselSolver/SphericalJoint.cpp
-        OndselSolver/SphSphJoint.cpp
-        OndselSolver/StableBackwardDifference.cpp
-        OndselSolver/StateData.cpp
-        OndselSolver/Sum.cpp
-        OndselSolver/Symbolic.cpp
-        OndselSolver/SymbolicParser.cpp
-        OndselSolver/SyntaxError.cpp
-        OndselSolver/System.cpp
-        OndselSolver/SystemNewtonRaphson.cpp
-        OndselSolver/SystemSolver.cpp
-        OndselSolver/Time.cpp
-        OndselSolver/TooManyTriesError.cpp
-        OndselSolver/TooSmallStepSizeError.cpp
-        OndselSolver/Translation.cpp
-        OndselSolver/TranslationalJoint.cpp
-        OndselSolver/TranslationConstraintIJ.cpp
-        OndselSolver/TranslationConstraintIqcJc.cpp
-        OndselSolver/TranslationConstraintIqcJqc.cpp
-        OndselSolver/TranslationConstraintIqctJqc.cpp
-        OndselSolver/TranslationLimitIJ.cpp
-        OndselSolver/Units.cpp
-        OndselSolver/UniversalJoint.cpp
-        OndselSolver/UserFunction.cpp
-        OndselSolver/Variable.cpp
-        OndselSolver/VectorNewtonRaphson.cpp
-        OndselSolver/VelICKineSolver.cpp
-        OndselSolver/VelICSolver.cpp
-        OndselSolver/VelKineSolver.cpp
-        OndselSolver/VelSolver.cpp
-        OndselSolver/ZRotation.cpp
-        OndselSolver/ZTranslation.cpp
-)
-
-set(ONDSELSOLVER_HEADERS
-        OndselSolver/Abs.h
-        OndselSolver/AbsConstraint.h
-        OndselSolver/AccICKineNewtonRaphson.h
-        OndselSolver/AccICNewtonRaphson.h
-        OndselSolver/AccKineNewtonRaphson.h
-        OndselSolver/AccNewtonRaphson.h
-        OndselSolver/AllowZRotation.h
-        OndselSolver/AllowZRotationConstraintIqctJqc.h
-        OndselSolver/AngleJoint.h
-        OndselSolver/AngleZConstraintIJ.h
-        OndselSolver/AngleZConstraintIqcJc.h
-        OndselSolver/AngleZConstraintIqcJqc.h
-        OndselSolver/AngleZIecJec.h
-        OndselSolver/AngleZIeqcJec.h
-        OndselSolver/AngleZIeqcJeqc.h
-        OndselSolver/AnyGeneralSpline.h
-        OndselSolver/AnyPosICNewtonRaphson.h
-        OndselSolver/ArcSine.h
-        OndselSolver/ArcTan.h
-        OndselSolver/ArcTan2.h
-        OndselSolver/Arguments.h
-        OndselSolver/Array.h
-        OndselSolver/ASMTAllowRotation.h
-        OndselSolver/ASMTAngleJoint.h
-        OndselSolver/ASMTAnimationParameters.h
-        OndselSolver/ASMTAssembly.h
-        OndselSolver/ASMTCompoundJoint.h
-        OndselSolver/ASMTConstantGravity.h
-        OndselSolver/ASMTConstantVelocityJoint.h
-        OndselSolver/ASMTConstraintSet.h
-        OndselSolver/ASMTCylindricalJoint.h
-        OndselSolver/ASMTCylSphJoint.h
-        OndselSolver/ASMTExtrusion.h
-        OndselSolver/ASMTFixedJoint.h
-        OndselSolver/ASMTForceTorque.h
-        OndselSolver/ASMTGearJoint.h
-        OndselSolver/ASMTGeneralMotion.h
-        OndselSolver/ASMTInPlaneJoint.h
-        OndselSolver/ASMTItem.h
-        OndselSolver/ASMTItemIJ.h
-        OndselSolver/ASMTJoint.h
-        OndselSolver/ASMTKinematicIJ.h
-        OndselSolver/ASMTLimit.h
-        OndselSolver/ASMTLineInPlaneJoint.h
-        OndselSolver/ASMTMarker.h
-        OndselSolver/ASMTMotion.h
-        OndselSolver/ASMTNoRotationJoint.h
-        OndselSolver/ASMTParallelAxesJoint.h
-        OndselSolver/ASMTPart.h
-        OndselSolver/ASMTPerpendicularJoint.h
-        OndselSolver/ASMTPlanarJoint.h
-        OndselSolver/ASMTPointInLineJoint.h
-        OndselSolver/ASMTPointInPlaneJoint.h
-        OndselSolver/ASMTPrincipalMassMarker.h
-        OndselSolver/ASMTRackPinionJoint.h
-        OndselSolver/ASMTRefCurve.h
-        OndselSolver/ASMTRefItem.h
-        OndselSolver/ASMTRefPoint.h
-        OndselSolver/ASMTRefSurface.h
-        OndselSolver/ASMTRevCylJoint.h
-        OndselSolver/ASMTRevoluteJoint.h
-        OndselSolver/ASMTRevRevJoint.h
-        OndselSolver/ASMTRotationalMotion.h
-        OndselSolver/ASMTRotationLimit.h
-        OndselSolver/ASMTScrewJoint.h
-        OndselSolver/ASMTSimulationParameters.h
-        OndselSolver/ASMTSpatialContainer.h
-        OndselSolver/ASMTSpatialItem.h
-        OndselSolver/ASMTSphericalJoint.h
-        OndselSolver/ASMTSphSphJoint.h
-        OndselSolver/ASMTTime.h
-        OndselSolver/ASMTTranslationalJoint.h
-        OndselSolver/ASMTTranslationalMotion.h
-        OndselSolver/ASMTTranslationLimit.h
-        OndselSolver/ASMTUniversalJoint.h
-        OndselSolver/AtPointConstraintIJ.h
-        OndselSolver/AtPointConstraintIqcJc.h
-        OndselSolver/AtPointConstraintIqcJqc.h
-        OndselSolver/AtPointConstraintIqctJqc.h
-        OndselSolver/AtPointJoint.h
-        OndselSolver/BasicIntegrator.h
-        OndselSolver/BasicQuasiIntegrator.h
-        OndselSolver/BasicUserFunction.h
-        OndselSolver/CADSystem.h
-        OndselSolver/CartesianFrame.h
-        OndselSolver/CompoundJoint.h
-        OndselSolver/ASMTConeConeContact.h
-        OndselSolver/ASMTContact.h
-        OndselSolver/ASMTCylConeContact.h
-        OndselSolver/ASMTCylCylContact.h
-        OndselSolver/Constant.h
-        OndselSolver/ConstantGravity.h
-        OndselSolver/ConstantVelocityJoint.h
-        OndselSolver/Constraint.h
-        OndselSolver/ConstraintIJ.h
-        OndselSolver/ConstraintSet.h
-        OndselSolver/ConstVelConstraintIJ.h
-        OndselSolver/ConstVelConstraintIqcJc.h
-        OndselSolver/ConstVelConstraintIqcJqc.h
-        OndselSolver/Cosine.h
-        OndselSolver/CREATE.h
-        OndselSolver/CylindricalJoint.h
-        OndselSolver/CylSphJoint.h
-        OndselSolver/DiagonalMatrix.h
-        OndselSolver/DifferenceOperator.h
-        OndselSolver/DifferentiatedGeneralSpline.h
-        OndselSolver/DirectionCosineConstraintIJ.h
-        OndselSolver/DirectionCosineConstraintIqcJc.h
-        OndselSolver/DirectionCosineConstraintIqcJqc.h
-        OndselSolver/DirectionCosineConstraintIqctJqc.h
-        OndselSolver/DirectionCosineIecJec.h
-        OndselSolver/DirectionCosineIeqcJec.h
-        OndselSolver/DirectionCosineIeqcJeqc.h
-        OndselSolver/DirectionCosineIeqctJeqc.h
-        OndselSolver/DiscontinuityError.h
-        OndselSolver/DispCompIecJecIe.h
-        OndselSolver/DispCompIecJecKec.h
-        OndselSolver/DispCompIecJecKeqc.h
-        OndselSolver/DispCompIecJecO.h
-        OndselSolver/DispCompIeqcJecIe.h
-        OndselSolver/DispCompIeqcJecKeqc.h
-        OndselSolver/DispCompIeqcJecO.h
-        OndselSolver/DispCompIeqcJeqcIe.h
-        OndselSolver/DispCompIeqcJeqcKeqc.h
-        OndselSolver/DispCompIeqcJeqcKeqct.h
-        OndselSolver/DispCompIeqcJeqcO.h
-        OndselSolver/DispCompIeqctJeqcIe.h
-        OndselSolver/DispCompIeqctJeqcKeqct.h
-        OndselSolver/DispCompIeqctJeqcO.h
-        OndselSolver/DistanceConstraintIJ.h
-        OndselSolver/DistanceConstraintIqcJc.h
-        OndselSolver/DistanceConstraintIqcJqc.h
-        OndselSolver/DistanceConstraintIqctJqc.h
-        OndselSolver/DistancexyConstraintIJ.h
-        OndselSolver/DistancexyConstraintIqcJc.h
-        OndselSolver/DistancexyConstraintIqcJqc.h
-        OndselSolver/DistIecJec.h
-        OndselSolver/DistIeqcJec.h
-        OndselSolver/DistIeqcJeqc.h
-        OndselSolver/DistIeqctJeqc.h
-        OndselSolver/DistxyIecJec.h
-        OndselSolver/DistxyIeqcJec.h
-        OndselSolver/DistxyIeqcJeqc.h
-        OndselSolver/DistxyIeqctJeqc.h
-        OndselSolver/EigenDecomposition.h
-        OndselSolver/EndFramec.h
-        OndselSolver/EndFrameqc.h
-        OndselSolver/EndFrameqct.h
-        OndselSolver/EndFrameqct2.h
-        OndselSolver/enum.h
-        OndselSolver/EulerAngles.h
-        OndselSolver/EulerAnglesDDot.h
-        OndselSolver/EulerAnglesDot.h
-        OndselSolver/EulerAngleszxz.h
-        OndselSolver/EulerAngleszxzDDot.h
-        OndselSolver/EulerAngleszxzDot.h
-        OndselSolver/EulerArray.h
-        OndselSolver/EulerConstraint.h
-        OndselSolver/EulerParameters.h
-        OndselSolver/EulerParametersDDot.h
-        OndselSolver/EulerParametersDot.h
-        OndselSolver/Exponential.h
-        OndselSolver/ExpressionX.h
-        OndselSolver/ExternalSystem.h
-        OndselSolver/FixedJoint.h
-        OndselSolver/ForceTorqueData.h
-        OndselSolver/ForceTorqueItem.h
-        OndselSolver/FullColumn.h
-        OndselSolver/FullMatrix.h
-        OndselSolver/FullMotion.h
-        OndselSolver/FullRow.h
-        OndselSolver/FullRow.h
-        OndselSolver/FullVector.h
-        OndselSolver/Function.h
-        OndselSolver/FunctionFromData.h
-        OndselSolver/FunctionWithManyArgs.h
-        OndselSolver/FunctionX.h
-        OndselSolver/FunctionXcParameter.h
-        OndselSolver/FunctionXY.h
-        OndselSolver/GearConstraintIJ.h
-        OndselSolver/GearConstraintIqcJc.h
-        OndselSolver/GearConstraintIqcJqc.h
-        OndselSolver/GearJoint.h
-        OndselSolver/GEFullMat.h
-        OndselSolver/GEFullMatFullPv.h
-        OndselSolver/GEFullMatParPv.h
-        OndselSolver/GeneralSpline.h
-        OndselSolver/GESpMat.h
-        OndselSolver/GESpMatFullPv.h
-        OndselSolver/GESpMatFullPvPosIC.h
-        OndselSolver/GESpMatParPv.h
-        OndselSolver/GESpMatParPvMarko.h
-        OndselSolver/GESpMatParPvMarkoFast.h
-        OndselSolver/GESpMatParPvPrecise.h
-        OndselSolver/ICKineIntegrator.h
-        OndselSolver/IndependentVariable.h
-        OndselSolver/InLineJoint.h
-        OndselSolver/InPlaneJoint.h
-        OndselSolver/Integrator.h
-        OndselSolver/IntegratorInterface.h
-        OndselSolver/Item.h
-        OndselSolver/ItemIJ.h
-        OndselSolver/Joint.h
-        OndselSolver/KineIntegrator.h
-        OndselSolver/KinematicIeJe.h
-        OndselSolver/LDUFullMat.h
-        OndselSolver/LDUFullMatParPv.h
-        OndselSolver/LDUSpMat.h
-        OndselSolver/LDUSpMatParPv.h
-        OndselSolver/LDUSpMatParPvMarko.h
-        OndselSolver/LDUSpMatParPvPrecise.h
-        OndselSolver/LimitIJ.h
-        OndselSolver/LinearMultiStepMethod.h
-        OndselSolver/LineInPlaneJoint.h
-        OndselSolver/Ln.h
-        OndselSolver/Log10.h
-        OndselSolver/LogN.h
-        OndselSolver/MarkerFrame.h
-        OndselSolver/MatrixDecomposition.h
-        OndselSolver/MatrixGaussElimination.h
-        OndselSolver/MatrixLDU.h
-        OndselSolver/MatrixSolver.h
-        OndselSolver/MaximumIterationError.h
-        OndselSolver/MbDMath.h
-        OndselSolver/MomentOfInertiaSolver.h
-        OndselSolver/Negative.h
-        OndselSolver/NewtonRaphson.h
-        OndselSolver/NewtonRaphsonError.h
-        OndselSolver/NoRotationJoint.h
-        OndselSolver/NotKinematicError.h
-        OndselSolver/Numeric.h
-        OndselSolver/OrbitAngleZIecJec.h
-        OndselSolver/OrbitAngleZIeqcJec.h
-        OndselSolver/OrbitAngleZIeqcJeqc.h
-        OndselSolver/Orientation.h
-        OndselSolver/ParallelAxesJoint.h
-        OndselSolver/Part.h
-        OndselSolver/PartFrame.h
-        OndselSolver/PerpendicularJoint.h
-        OndselSolver/PlanarJoint.h
-        OndselSolver/PointInLineJoint.h
-        OndselSolver/PointInPlaneJoint.h
-        OndselSolver/PosICDragLimitNewtonRaphson.h
-        OndselSolver/PosICDragNewtonRaphson.h
-        OndselSolver/PosICKineNewtonRaphson.h
-        OndselSolver/PosICNewtonRaphson.h
-        OndselSolver/PosKineNewtonRaphson.h
-        OndselSolver/PosNewtonRaphson.h
-        OndselSolver/PosVelAccData.h
-        OndselSolver/Power.h
-        OndselSolver/PrescribedMotion.h
-        OndselSolver/Product.h
-        OndselSolver/QuasiIntegrator.h
-        OndselSolver/RackPinConstraintIJ.h
-        OndselSolver/RackPinConstraintIqcJc.h
-        OndselSolver/RackPinConstraintIqcJqc.h
-        OndselSolver/RackPinJoint.h
-        OndselSolver/Reciprocal.h
-        OndselSolver/RedundantConstraint.h
-        OndselSolver/resource.h
-        OndselSolver/RevCylJoint.h
-        OndselSolver/RevoluteJoint.h
-        OndselSolver/RevRevJoint.h
-        OndselSolver/RotationLimitIJ.h
-        OndselSolver/RowTypeMatrix.h
-        OndselSolver/ScalarNewtonRaphson.h
-        OndselSolver/ScrewConstraintIJ.h
-        OndselSolver/ScrewConstraintIqcJc.h
-        OndselSolver/ScrewConstraintIqcJqc.h
-        OndselSolver/ScrewJoint.h
-        OndselSolver/SimulationStoppingError.h
-        OndselSolver/Sine.h
-        OndselSolver/SingularMatrixError.h
-        OndselSolver/Solver.h
-        OndselSolver/SparseColumn.h
-        OndselSolver/SparseMatrix.h
-        OndselSolver/SparseRow.h
-        OndselSolver/SparseVector.h
-        OndselSolver/SphericalJoint.h
-        OndselSolver/SphSphJoint.h
-        OndselSolver/StableBackwardDifference.h
-        OndselSolver/StateData.h
-        OndselSolver/Sum.h
-        OndselSolver/Symbolic.h
-        OndselSolver/SymbolicParser.h
-        OndselSolver/SyntaxError.h
-        OndselSolver/System.h
-        OndselSolver/SystemNewtonRaphson.h
-        OndselSolver/SystemSolver.h
-        OndselSolver/Time.h
-        OndselSolver/TooManyTriesError.h
-        OndselSolver/TooSmallStepSizeError.h
-        OndselSolver/Translation.h
-        OndselSolver/TranslationalJoint.h
-        OndselSolver/TranslationConstraintIJ.h
-        OndselSolver/TranslationConstraintIqcJc.h
-        OndselSolver/TranslationConstraintIqcJqc.h
-        OndselSolver/TranslationConstraintIqctJqc.h
-        OndselSolver/TranslationLimitIJ.h
-        OndselSolver/Units.h
-        OndselSolver/UniversalJoint.h
-        OndselSolver/UserFunction.h
-        OndselSolver/Variable.h
-        OndselSolver/VectorNewtonRaphson.h
-        OndselSolver/VelICKineSolver.h
-        OndselSolver/VelICSolver.h
-        OndselSolver/VelKineSolver.h
-        OndselSolver/VelSolver.h
-        OndselSolver/ZRotation.h
-        OndselSolver/ZTranslation.h
-)
-
-target_sources(OndselSolver PRIVATE
-        "${ONDSELSOLVER_SRC}"
-        "${ONDSELSOLVER_HEADERS}")
-
-set_target_properties(OndselSolver
-        PROPERTIES VERSION ${PROJECT_VERSION}
-        SOVERSION 1
-        PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
-)
-
-if(MSVC)
-    target_compile_definitions(OndselSolver PRIVATE _USE_MATH_DEFINES)
-endif(MSVC)
-
-configure_file(OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
-install(TARGETS OndselSolver
-        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
-        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
-install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
-        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
+add_compile_definitions(TEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/testapp")
+add_subdirectory(OndselSolver)
+add_subdirectory(OndselSolverMain)
+include(CTest)
+enable_testing()
+add_subdirectory(tests)
+target_compile_definitions(test_run PUBLIC TEST_DATA_PATH="${CMAKE_CURRENT_SOURCE_DIR}/testapp")
+set_property(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/OndselSolverMain PROPERTY VS_STARTUP_PROJECT OndselSolverMain)
\ No newline at end of file
diff --git a/OndselSolver.sln b/OndselSolver.sln
deleted file mode 100644
index 2d4c734..0000000
--- a/OndselSolver.sln
+++ /dev/null
@@ -1,31 +0,0 @@
-
-Microsoft Visual Studio Solution File, Format Version 12.00
-# Visual Studio Version 17
-VisualStudioVersion = 17.5.33530.505
-MinimumVisualStudioVersion = 10.0.40219.1
-Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "OndselSolver", "OndselSolver\OndselSolver.vcxproj", "{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}"
-EndProject
-Global
-	GlobalSection(SolutionConfigurationPlatforms) = preSolution
-		Debug|x64 = Debug|x64
-		Debug|x86 = Debug|x86
-		Release|x64 = Release|x64
-		Release|x86 = Release|x86
-	EndGlobalSection
-	GlobalSection(ProjectConfigurationPlatforms) = postSolution
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.ActiveCfg = Debug|x64
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x64.Build.0 = Debug|x64
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.ActiveCfg = Debug|Win32
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Debug|x86.Build.0 = Debug|Win32
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.ActiveCfg = Release|x64
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x64.Build.0 = Release|x64
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.ActiveCfg = Release|Win32
-		{80F56CBC-B685-4C36-B834-A2DCDF0A98B7}.Release|x86.Build.0 = Release|Win32
-	EndGlobalSection
-	GlobalSection(SolutionProperties) = preSolution
-		HideSolutionNode = FALSE
-	EndGlobalSection
-	GlobalSection(ExtensibilityGlobals) = postSolution
-		SolutionGuid = {BD48A6EF-4E93-4C09-BCE1-84F0439DB2D9}
-	EndGlobalSection
-EndGlobal
diff --git a/OndselSolver/ASMTAllowRotation.cpp b/OndselSolver/ASMTAllowRotation.cpp
index 643cf84..91556b5 100644
--- a/OndselSolver/ASMTAllowRotation.cpp
+++ b/OndselSolver/ASMTAllowRotation.cpp
@@ -55,7 +55,7 @@ std::shared_ptr<ItemIJ> MbD::ASMTAllowRotation::mbdClassNew()
 	return AllowZRotation::With();
 }
 
-void MbD::ASMTAllowRotation::setMotionJoint(std::string motionJoint)
+void MbD::ASMTAllowRotation::setMotionJoint(const std::string& motionJoint)
 {
     (void) motionJoint;
 }
diff --git a/OndselSolver/ASMTAllowRotation.h b/OndselSolver/ASMTAllowRotation.h
index 44885a8..b71a46b 100644
--- a/OndselSolver/ASMTAllowRotation.h
+++ b/OndselSolver/ASMTAllowRotation.h
@@ -20,7 +20,7 @@ namespace MbD {
         void readMotionJoint(std::vector<std::string>& lines);
         void initMarkers() override;
         std::shared_ptr<ItemIJ> mbdClassNew() override;
-        void setMotionJoint(std::string motionJoint);
+        void setMotionJoint(const std::string& motionJoint);
         void storeOnLevel(std::ofstream& os, size_t level) override;
         void storeOnTimeSeries(std::ofstream& os) override;
 
diff --git a/OndselSolver/ASMTAssembly.cpp b/OndselSolver/ASMTAssembly.cpp
index 87eec10..053e182 100644
--- a/OndselSolver/ASMTAssembly.cpp
+++ b/OndselSolver/ASMTAssembly.cpp
@@ -61,6 +61,7 @@
 #include "ASMTLimit.h"
 #include "ASMTRotationLimit.h"
 #include "ASMTTranslationLimit.h"
+#include <filesystem>
 
 using namespace MbD;
 
@@ -354,8 +355,11 @@ void MbD::ASMTAssembly::runSinglePendulum()
     assembly->runKINEMATIC();
 }
 
-std::shared_ptr<ASMTAssembly> MbD::ASMTAssembly::assemblyFromFile(const char* fileName)
+std::shared_ptr<ASMTAssembly> MbD::ASMTAssembly::assemblyFromFile(const std::string& fileName)
 {
+    std::filesystem::path currentPath = std::filesystem::current_path();
+    std::cout << "Current directory: " << currentPath << std::endl;
+
     std::ifstream stream(fileName);
     if (stream.fail()) {
         throw std::invalid_argument("File not found.");
@@ -376,7 +380,7 @@ std::shared_ptr<ASMTAssembly> MbD::ASMTAssembly::assemblyFromFile(const char* fi
     return assembly;
 }
 
-void MbD::ASMTAssembly::runFile(const char* fileName)
+void MbD::ASMTAssembly::runFile(const std::string& fileName)
 {
     std::ifstream stream(fileName);
     if (stream.fail()) {
@@ -424,8 +428,8 @@ void MbD::ASMTAssembly::runDraggingLogTest3()
 
 void MbD::ASMTAssembly::runDraggingTest()
 {
-    // auto assembly = ASMTAssembly::assemblyFromFile("../testapp/pistonWithLimits.asmt");
-    auto assembly = ASMTAssembly::assemblyFromFile("../testapp/dragCrankSlider.asmt");
+    // auto assembly = ASMTAssembly::assemblyFromFile("../../testapp/pistonWithLimits.asmt");
+    auto assembly = ASMTAssembly::assemblyFromFile("../../testapp/dragCrankSlider.asmt");
     assembly->setDebug(true);
 
     auto limit1 = ASMTRotationLimit::With();
@@ -464,8 +468,8 @@ void MbD::ASMTAssembly::runDraggingTest()
 
 void MbD::ASMTAssembly::runDraggingTest2()
 {
-    // auto assembly = ASMTAssembly::assemblyFromFile("../testapp/pistonWithLimits.asmt");
-    auto assembly = ASMTAssembly::assemblyFromFile("../testapp/dragCrankSlider.asmt");
+    // auto assembly = ASMTAssembly::assemblyFromFile("../../testapp/pistonWithLimits.asmt");
+    auto assembly = ASMTAssembly::assemblyFromFile("../../testapp/dragCrankSlider.asmt");
     assembly->setDebug(true);
 
     auto limit1 = ASMTRotationLimit::With();
@@ -504,7 +508,7 @@ void MbD::ASMTAssembly::runDraggingTest2()
 
 void MbD::ASMTAssembly::runDraggingTest3()
 {
-    auto assembly = ASMTAssembly::assemblyFromFile("../testapp/rackPinion3.asmt");
+    auto assembly = ASMTAssembly::assemblyFromFile("../../testapp/rackPinion3.asmt");
     assembly->setDebug(true);
     auto dragPart = assembly->partNamed("/OndselAssembly/rackPinion#Box");
     auto rotPart = assembly->partNamed("/OndselAssembly/rackPinion#Cylinder");
@@ -534,7 +538,7 @@ void MbD::ASMTAssembly::runDraggingTest3()
     rotMat = rotPart->rotationMatrix;
 }
 
-void MbD::ASMTAssembly::readWriteFile(const char* fileName)
+void MbD::ASMTAssembly::readWriteFile(const std::string& fileName)
 {
     std::ifstream stream(fileName);
     if (stream.fail()) {
@@ -571,7 +575,7 @@ ASMTAssembly* MbD::ASMTAssembly::root()
     return this;
 }
 
-void MbD::ASMTAssembly::setNotes(std::string str)
+void MbD::ASMTAssembly::setNotes(const std::string& str)
 {
     notes = str;
 }
@@ -1040,7 +1044,7 @@ void MbD::ASMTAssembly::readMotionSeries(std::vector<std::string>& lines)
     motion->readMotionSeries(lines);
 }
 
-void MbD::ASMTAssembly::runDraggingLog(const char* fileName)
+void MbD::ASMTAssembly::runDraggingLog(const std::string& fileName)
 {
     std::ifstream stream(fileName);
     if (stream.fail()) {
@@ -1270,7 +1274,7 @@ void MbD::ASMTAssembly::createMbD(std::shared_ptr<System> mbdSys, std::shared_pt
     // animationParameters = nullptr;
 }
 
-void MbD::ASMTAssembly::outputFile(std::string filename)
+void MbD::ASMTAssembly::outputFile(const std::string& filename)
 {
     std::ofstream os(filename);
     os << std::setprecision(std::numeric_limits<double>::max_digits10);
@@ -1458,7 +1462,7 @@ MbD::ASMTAssembly::spatialContainerAt(std::shared_ptr<ASMTAssembly> self,
     return part;
 }
 
-std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partAt(std::string& longname) const
+std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partAt(const std::string& longname) const
 {
     for (auto& part : *parts) {
         if (part->fullName("") == longname) {
@@ -1468,7 +1472,7 @@ std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partAt(std::string& longname) const
     return nullptr;
 }
 
-std::shared_ptr<ASMTMarker> MbD::ASMTAssembly::markerAt(std::string& longname) const
+std::shared_ptr<ASMTMarker> MbD::ASMTAssembly::markerAt(const std::string& longname) const
 {
     for (auto& refPoint : *refPoints) {
         for (auto& marker : *refPoint->markers) {
@@ -1489,7 +1493,7 @@ std::shared_ptr<ASMTMarker> MbD::ASMTAssembly::markerAt(std::string& longname) c
     return nullptr;
 }
 
-std::shared_ptr<ASMTJoint> MbD::ASMTAssembly::jointAt(std::string& longname) const
+std::shared_ptr<ASMTJoint> MbD::ASMTAssembly::jointAt(const std::string& longname) const
 {
     auto it =
         std::find_if(joints->begin(), joints->end(), [&](const std::shared_ptr<ASMTJoint>& jt) {
@@ -1499,7 +1503,7 @@ std::shared_ptr<ASMTJoint> MbD::ASMTAssembly::jointAt(std::string& longname) con
     return joint;
 }
 
-std::shared_ptr<ASMTMotion> MbD::ASMTAssembly::motionAt(std::string& longname) const
+std::shared_ptr<ASMTMotion> MbD::ASMTAssembly::motionAt(const std::string& longname) const
 {
     auto it =
         std::find_if(motions->begin(), motions->end(), [&](const std::shared_ptr<ASMTMotion>& mt) {
@@ -1509,7 +1513,7 @@ std::shared_ptr<ASMTMotion> MbD::ASMTAssembly::motionAt(std::string& longname) c
     return motion;
 }
 
-std::shared_ptr<ASMTForceTorque> MbD::ASMTAssembly::forceTorqueAt(std::string& longname) const
+std::shared_ptr<ASMTForceTorque> MbD::ASMTAssembly::forceTorqueAt(const std::string& longname) const
 {
     auto it = std::find_if(forcesTorques->begin(),
                            forcesTorques->end(),
@@ -1621,7 +1625,7 @@ void MbD::ASMTAssembly::setSimulationParameters(
     parameters->owner = this;
 }
 
-std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partNamed(std::string partName) const
+std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partNamed(const std::string& partName) const
 {
     auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr<ASMTPart>& prt) {
         return prt->fullName("") == partName;
@@ -1630,7 +1634,7 @@ std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partNamed(std::string partName) con
     return part;
 }
 
-std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partPartialNamed(std::string partialName) const
+std::shared_ptr<ASMTPart> MbD::ASMTAssembly::partPartialNamed(const std::string& partialName) const
 {
     auto it = std::find_if(parts->begin(), parts->end(), [&](const std::shared_ptr<ASMTPart>& prt) {
         auto fullName = prt->fullName("");
@@ -1740,7 +1744,7 @@ void MbD::ASMTAssembly::storeOnTimeSeries(std::ofstream& os)
     }
 }
 
-void MbD::ASMTAssembly::setFilename(std::string str)
+void MbD::ASMTAssembly::setFilename(const std::string& str)
 {
     std::stringstream ss;
     ss << "FileName = " << str << std::endl;
diff --git a/OndselSolver/ASMTAssembly.h b/OndselSolver/ASMTAssembly.h
index d50172a..4179565 100644
--- a/OndselSolver/ASMTAssembly.h
+++ b/OndselSolver/ASMTAssembly.h
@@ -38,8 +38,8 @@ namespace MbD {
 		static void runSinglePendulumSuperSimplified2();
 		static void runSinglePendulumSimplified();
 		static void runSinglePendulum();
-		static std::shared_ptr<ASMTAssembly> assemblyFromFile(const char* chars);
-		static void runFile(const char* chars);
+		static std::shared_ptr<ASMTAssembly> assemblyFromFile(const std::string& fileName);
+		static void runFile(const std::string& chars);
 		static void runDraggingLogTest();
 		static void runDraggingLogTest2();
 		static void runDraggingLogTest3();
@@ -47,10 +47,10 @@ namespace MbD {
 		static void runDraggingTest2();
 		static void runDraggingTest3();
     
-		static void readWriteFile(const char* chars);
+		static void readWriteFile(const std::string& chars);
 		void initialize() override;
 		ASMTAssembly* root() override;
-		void setNotes(std::string str);
+		void setNotes(const std::string& str);
 		void parseASMT(std::vector<std::string>& lines) override;
 		void readNotes(std::vector<std::string>& lines);
 		void readParts(std::vector<std::string>& lines);
@@ -75,7 +75,7 @@ namespace MbD {
 		void readJointSeries(std::vector<std::string>& lines);
 		void readMotionSeriesMany(std::vector<std::string>& lines);
 		void readMotionSeries(std::vector<std::string>& lines);
-		void runDraggingLog(const char* chars);
+		void runDraggingLog(const std::string& chars);
 
 		void outputFor(AnalysisType type);
 		void preMbDrun(std::shared_ptr<System> mbdSys);
@@ -89,7 +89,7 @@ namespace MbD {
 		std::shared_ptr<std::map<std::string, std::shared_ptr<ASMTMarker>>>markerMap() const;
 		void deleteMbD() override;
 		void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
-		void outputFile(std::string filename);
+		void outputFile(const std::string& filename);
 		void storeOnLevel(std::ofstream& os, size_t level) override;
 
 		/* This function performs a one shot solve of the assembly.*/
@@ -102,11 +102,11 @@ namespace MbD {
 		void runKINEMATIC();
 		void initprincipalMassMarker();
 		std::shared_ptr<ASMTSpatialContainer> spatialContainerAt(std::shared_ptr<ASMTAssembly> self, std::string& longname) const;
-		std::shared_ptr<ASMTPart> partAt(std::string& longname) const;
-		std::shared_ptr<ASMTMarker> markerAt(std::string& longname) const;
-		std::shared_ptr<ASMTJoint> jointAt(std::string& longname) const;
-		std::shared_ptr<ASMTMotion> motionAt(std::string& longname) const;
-		std::shared_ptr<ASMTForceTorque> forceTorqueAt(std::string& longname) const;
+		std::shared_ptr<ASMTPart> partAt(const std::string& longname) const;
+		std::shared_ptr<ASMTMarker> markerAt(const std::string& longname) const;
+		std::shared_ptr<ASMTJoint> jointAt(const std::string& longname) const;
+		std::shared_ptr<ASMTMotion> motionAt(const std::string& longname) const;
+		std::shared_ptr<ASMTForceTorque> forceTorqueAt(const std::string& longname) const;
 		FColDsptr vOcmO() override;
 		FColDsptr omeOpO() override;
 		std::shared_ptr<ASMTTime> geoTime() const;
@@ -119,8 +119,8 @@ namespace MbD {
 		void addLimit(std::shared_ptr<ASMTLimit> limit);
 		void setConstantGravity(std::shared_ptr<ASMTConstantGravity> constantGravity);
 		void setSimulationParameters(std::shared_ptr<ASMTSimulationParameters> simulationParameters);
-		std::shared_ptr<ASMTPart> partNamed(std::string partName) const;
-		std::shared_ptr<ASMTPart> partPartialNamed(std::string partialName) const;
+		std::shared_ptr<ASMTPart> partNamed(const std::string& partName) const;
+		std::shared_ptr<ASMTPart> partPartialNamed(const std::string& partialName) const;
 		void storeOnLevelNotes(std::ofstream& os, size_t level);
 		void storeOnLevelParts(std::ofstream& os, size_t level);
 		void storeOnLevelKinematicIJs(std::ofstream& os, size_t level);
@@ -131,7 +131,7 @@ namespace MbD {
 		void storeOnLevelLimits(std::ofstream& os, size_t level);
 		void storeOnLevelGeneralConstraintSets(std::ofstream& os, size_t level);
 		void storeOnTimeSeries(std::ofstream& os) override;
-		void setFilename(std::string filename);
+		void setFilename(const std::string& filename);
 		void setDebug(bool todebug);
 
 		std::string filename = "";
diff --git a/OndselSolver/ASMTItem.cpp b/OndselSolver/ASMTItem.cpp
index de44e93..ffcb754 100644
--- a/OndselSolver/ASMTItem.cpp
+++ b/OndselSolver/ASMTItem.cpp
@@ -46,7 +46,7 @@ std::string MbD::ASMTItem::classname()
 	return answer;
 }
 
-void MbD::ASMTItem::setName(std::string str)
+void MbD::ASMTItem::setName(const std::string& str)
 {
 	name = str;
 }
@@ -72,7 +72,7 @@ std::string MbD::ASMTItem::readStringOffTop(std::vector<std::string>& args)
 	return str;
 }
 
-FRowDsptr MbD::ASMTItem::readRowOfDoubles(std::string& line)
+FRowDsptr MbD::ASMTItem::readRowOfDoubles(const std::string& line)
 {
 	std::istringstream iss(line);
 	auto readRowOfDoubles = std::make_shared<FullRow<double>>();
@@ -89,7 +89,7 @@ FRowDsptr MbD::ASMTItem::readRowOfDoublesOffTop(std::vector<std::string>& lines)
 	return readRowOfDoubles(str);
 }
 
-FColDsptr MbD::ASMTItem::readColumnOfDoubles(std::string& line)
+FColDsptr MbD::ASMTItem::readColumnOfDoubles(const std::string& line)
 {
 	std::istringstream iss(line);
 	auto readColumnOfDoubles = std::make_shared<FullColumn<double>>();
@@ -106,7 +106,7 @@ FColDsptr MbD::ASMTItem::readColumnOfDoublesOffTop(std::vector<std::string>& lin
 	return readColumnOfDoubles(str);
 }
 
-double MbD::ASMTItem::readDouble(std::string& line)
+double MbD::ASMTItem::readDouble(const std::string& line)
 {
 	std::istringstream iss(line);
 	double d;
@@ -114,7 +114,7 @@ double MbD::ASMTItem::readDouble(std::string& line)
 	return d;
 }
 
-int MbD::ASMTItem::readInt(std::string& line)
+int MbD::ASMTItem::readInt(const std::string& line)
 {
 	std::istringstream iss(line);
 	int i;
@@ -122,7 +122,7 @@ int MbD::ASMTItem::readInt(std::string& line)
 	return i;
 }
 
-size_t MbD::ASMTItem::readSize_t(std::string& line)
+size_t MbD::ASMTItem::readSize_t(const std::string& line)
 {
 	std::istringstream iss(line);
 	size_t i;
@@ -130,7 +130,7 @@ size_t MbD::ASMTItem::readSize_t(std::string& line)
 	return i;
 }
 
-bool MbD::ASMTItem::readBool(std::string& line)
+bool MbD::ASMTItem::readBool(const std::string& line)
 {
 	if (line.find("true") != std::string::npos)
 	{
@@ -146,7 +146,7 @@ bool MbD::ASMTItem::readBool(std::string& line)
 	}
 }
 
-std::string MbD::ASMTItem::readString(std::string& line)
+std::string MbD::ASMTItem::readString(const std::string& line)
 {
 	std::string str = line;
 	str.erase(str.begin(), std::find_if(str.begin(), str.end(), [](unsigned char ch) { return !std::isspace(ch); }));
@@ -161,7 +161,7 @@ void MbD::ASMTItem::readName(std::vector<std::string>& lines)
 	lines.erase(lines.begin());
 }
 
-std::string MbD::ASMTItem::fullName(std::string partialName)
+std::string MbD::ASMTItem::fullName(const std::string& partialName)
 {
 	std::string longerName = "/" + name + partialName;
 	if (owner == nullptr) {
@@ -172,7 +172,7 @@ std::string MbD::ASMTItem::fullName(std::string partialName)
 	}
 }
 
-void MbD::ASMTItem::readDoublesInto(std::string& str, std::string label, FRowDsptr& row)
+void MbD::ASMTItem::readDoublesInto(std::string str, std::string label, FRowDsptr& row)
 {
 	auto pos = str.find(label);
 	assert(pos != std::string::npos);
@@ -289,12 +289,7 @@ void MbD::ASMTItem::storeOnTimeSeries(std::ofstream&)
 	assert(false);
 }
 
-void MbD::ASMTItem::logString(std::string& str)
+void MbD::ASMTItem::logString(const std::string& str)
 {
 	std::cout << str << std::endl;
 }
-
-void MbD::ASMTItem::logString(const char* chars)
-{
-	std::cout << chars << std::endl;
-}
diff --git a/OndselSolver/ASMTItem.h b/OndselSolver/ASMTItem.h
index 6ec2b20..b6551e5 100644
--- a/OndselSolver/ASMTItem.h
+++ b/OndselSolver/ASMTItem.h
@@ -28,22 +28,22 @@ namespace MbD {
 		virtual void initialize();
 		void noop();
 		virtual std::string classname();
-		void setName(std::string str);
+		void setName(const std::string& str);
 		virtual void parseASMT(std::vector<std::string>& lines);
 		std::string popOffTop(std::vector<std::string>& lines);
 		std::string readStringOffTop(std::vector<std::string>& lines);
-		FRowDsptr readRowOfDoubles(std::string& line);
+		FRowDsptr readRowOfDoubles(const std::string& line);
 		FRowDsptr readRowOfDoublesOffTop(std::vector<std::string>& lines);
-		FColDsptr readColumnOfDoubles(std::string& line);
+		FColDsptr readColumnOfDoubles(const std::string& line);
 		FColDsptr readColumnOfDoublesOffTop(std::vector<std::string>& lines);
-		double readDouble(std::string& line);
-		int readInt(std::string& line);
-		size_t readSize_t(std::string& line);
-		bool readBool(std::string& line);
-		std::string readString(std::string& line);
+		double readDouble(const std::string& line);
+		int readInt(const std::string& line);
+		size_t readSize_t(const std::string& line);
+		bool readBool(const std::string& line);
+		std::string readString(const std::string& line);
 		void readName(std::vector<std::string>& lines);
-		virtual std::string fullName(std::string partialName);
-		void readDoublesInto(std::string& str, std::string label, FRowDsptr& row);
+		virtual std::string fullName(const std::string& partialName);
+		void readDoublesInto(std::string str, std::string label, FRowDsptr& row);
 		virtual void deleteMbD();
 		virtual void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits);
 		virtual void updateFromMbD();
@@ -63,8 +63,7 @@ namespace MbD {
 		virtual void storeOnLevelArray(std::ofstream& os, size_t level, std::vector<double> array);
 		virtual void storeOnLevelName(std::ofstream& os, size_t level);
 		virtual void storeOnTimeSeries(std::ofstream& os);
-		void logString(std::string& str);
-		void logString(const char* chars);
+		void logString(const std::string& str);
 
 		std::string name;
 		ASMTItem* owner = nullptr;
diff --git a/OndselSolver/ASMTItemIJ.cpp b/OndselSolver/ASMTItemIJ.cpp
index 19ad421..89968d9 100644
--- a/OndselSolver/ASMTItemIJ.cpp
+++ b/OndselSolver/ASMTItemIJ.cpp
@@ -35,12 +35,12 @@ void MbD::ASMTItemIJ::initialize()
 	tzs = std::make_shared<FullRow<double>>();
 }
 
-void MbD::ASMTItemIJ::setMarkerI(std::string mkrI)
+void MbD::ASMTItemIJ::setMarkerI(const std::string& mkrI)
 {
 	markerI = mkrI;
 }
 
-void MbD::ASMTItemIJ::setMarkerJ(std::string mkrJ)
+void MbD::ASMTItemIJ::setMarkerJ(const std::string& mkrJ)
 {
 	markerJ = mkrJ;
 }
diff --git a/OndselSolver/ASMTItemIJ.h b/OndselSolver/ASMTItemIJ.h
index 065acef..5cdbcc4 100644
--- a/OndselSolver/ASMTItemIJ.h
+++ b/OndselSolver/ASMTItemIJ.h
@@ -17,8 +17,8 @@ namespace MbD {
     public:
         ASMTItemIJ();
         void initialize() override;
-        void setMarkerI(std::string mkrI);
-        void setMarkerJ(std::string mkrJ);
+        void setMarkerI(const std::string& mkrI);
+        void setMarkerJ(const std::string& mkrJ);
         void readMarkerI(std::vector<std::string>& lines);
         void readMarkerJ(std::vector<std::string>& lines);
         void readFXonIs(std::vector<std::string>& lines);
diff --git a/OndselSolver/ASMTLimit.cpp b/OndselSolver/ASMTLimit.cpp
index e8f6728..5952c92 100644
--- a/OndselSolver/ASMTLimit.cpp
+++ b/OndselSolver/ASMTLimit.cpp
@@ -95,22 +95,22 @@ void MbD::ASMTLimit::createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<U
 	limitIJ->tol = geotol->getValue();
 }
 
-void MbD::ASMTLimit::setmotionJoint(std::string _motionJoint)
+void MbD::ASMTLimit::setmotionJoint(const std::string& _motionJoint)
 {
 	motionJoint = _motionJoint;
 }
 
-void MbD::ASMTLimit::settype(std::string _type)
+void MbD::ASMTLimit::settype(const std::string& _type)
 {
 	type = _type;
 }
 
-void MbD::ASMTLimit::setlimit(std::string _limit)
+void MbD::ASMTLimit::setlimit(const std::string& _limit)
 {
 	limit = _limit;
 }
 
-void MbD::ASMTLimit::settol(std::string _tol)
+void MbD::ASMTLimit::settol(const std::string& _tol)
 {
 	tol = _tol;
 }
diff --git a/OndselSolver/ASMTLimit.h b/OndselSolver/ASMTLimit.h
index 83bdcd4..d8f4df8 100644
--- a/OndselSolver/ASMTLimit.h
+++ b/OndselSolver/ASMTLimit.h
@@ -24,10 +24,10 @@ namespace MbD {
         void readTol(std::vector<std::string>& lines);
         void parseASMT(std::vector<std::string>& lines) override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
-        void setmotionJoint(std::string _motionJoint);
-        void settype(std::string _type);
-        void setlimit(std::string _limit);
-        void settol(std::string _tol);
+        void setmotionJoint(const std::string& _motionJoint);
+        void settype(const std::string& _type);
+        void setlimit(const std::string& _limit);
+        void settol(const std::string& _tol);
 
         std::string motionJoint, type, limit, tol;
 
diff --git a/OndselSolver/ASMTRefPoint.cpp b/OndselSolver/ASMTRefPoint.cpp
index 3adc1c1..e86b853 100644
--- a/OndselSolver/ASMTRefPoint.cpp
+++ b/OndselSolver/ASMTRefPoint.cpp
@@ -19,7 +19,7 @@ void MbD::ASMTRefPoint::parseASMT(std::vector<std::string>& lines)
 	readMarkers(lines);
 }
 
-std::string MbD::ASMTRefPoint::fullName(std::string partialName)
+std::string MbD::ASMTRefPoint::fullName(const std::string& partialName)
 {
 	return owner->fullName(partialName);
 }
diff --git a/OndselSolver/ASMTRefPoint.h b/OndselSolver/ASMTRefPoint.h
index 72eacaf..19e6c7c 100644
--- a/OndselSolver/ASMTRefPoint.h
+++ b/OndselSolver/ASMTRefPoint.h
@@ -18,7 +18,7 @@ namespace MbD {
         //
     public:
         void parseASMT(std::vector<std::string>& lines) override;
-        std::string fullName(std::string partialName) override;
+        std::string fullName(const std::string& partialName) override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         void storeOnLevel(std::ofstream& os, size_t level) override;
 
diff --git a/OndselSolver/ASMTRotationalMotion.cpp b/OndselSolver/ASMTRotationalMotion.cpp
index 0b681e7..2d29a4b 100644
--- a/OndselSolver/ASMTRotationalMotion.cpp
+++ b/OndselSolver/ASMTRotationalMotion.cpp
@@ -89,12 +89,12 @@ std::shared_ptr<ItemIJ> MbD::ASMTRotationalMotion::mbdClassNew()
 	return CREATE<ZRotation>::With();
 }
 
-void MbD::ASMTRotationalMotion::setMotionJoint(std::string str)
+void MbD::ASMTRotationalMotion::setMotionJoint(const std::string& str)
 {
 	motionJoint = str;
 }
 
-void MbD::ASMTRotationalMotion::setRotationZ(std::string rotZ)
+void MbD::ASMTRotationalMotion::setRotationZ(const std::string& rotZ)
 {
 	rotationZ = rotZ;
 }
diff --git a/OndselSolver/ASMTRotationalMotion.h b/OndselSolver/ASMTRotationalMotion.h
index f8019a9..08209af 100644
--- a/OndselSolver/ASMTRotationalMotion.h
+++ b/OndselSolver/ASMTRotationalMotion.h
@@ -23,8 +23,8 @@ namespace MbD {
         void initMarkers() override;
         void createMbD(std::shared_ptr<System> mbdSys, std::shared_ptr<Units> mbdUnits) override;
         std::shared_ptr<ItemIJ> mbdClassNew() override;
-        void setMotionJoint(std::string motionJoint);
-        void setRotationZ(std::string rotZ);
+        void setMotionJoint(const std::string& motionJoint);
+        void setRotationZ(const std::string& rotZ);
         void storeOnLevel(std::ofstream& os, size_t level) override;
         void storeOnTimeSeries(std::ofstream& os) override;
 
diff --git a/OndselSolver/ASMTTime.cpp b/OndselSolver/ASMTTime.cpp
index aca06e7..ec01ebf 100644
--- a/OndselSolver/ASMTTime.cpp
+++ b/OndselSolver/ASMTTime.cpp
@@ -9,7 +9,7 @@
 #include <cassert>
 
 #include "ASMTTime.h"
-#include "Time.h"
+#include "SymTime.h"
 #include "Constant.h"
 #include "Product.h"
 
diff --git a/OndselSolver/AbsConstraint.cpp b/OndselSolver/AbsConstraint.cpp
index ca50d41..7eebc71 100644
--- a/OndselSolver/AbsConstraint.cpp
+++ b/OndselSolver/AbsConstraint.cpp
@@ -13,7 +13,7 @@ using namespace MbD;
 //
 //AbsConstraint::AbsConstraint() {}
 //
-//AbsConstraint::AbsConstraint(const char* str) : Constraint(str) {}
+//AbsConstraint::AbsConstraint(const std::string& str) : Constraint(str) {}
 
 AbsConstraint::AbsConstraint(size_t i)
 {
diff --git a/OndselSolver/AbsConstraint.h b/OndselSolver/AbsConstraint.h
index eed9beb..81a6549 100644
--- a/OndselSolver/AbsConstraint.h
+++ b/OndselSolver/AbsConstraint.h
@@ -15,7 +15,7 @@ namespace MbD {
 		//axis iqXminusOnePlusAxis 
 	public:
 		//AbsConstraint();
-		//AbsConstraint(const char* str);
+		//AbsConstraint(const std::string& str);
 		AbsConstraint(size_t axis);
 
 		void calcPostDynCorrectorIteration() override;
diff --git a/OndselSolver/AllowZRotation.cpp b/OndselSolver/AllowZRotation.cpp
index 641fa43..a74d62c 100644
--- a/OndselSolver/AllowZRotation.cpp
+++ b/OndselSolver/AllowZRotation.cpp
@@ -22,7 +22,7 @@ MbD::AllowZRotation::AllowZRotation()
 	//Do nothing.
 }
 
-MbD::AllowZRotation::AllowZRotation(const char* str) : PrescribedMotion(str) 
+MbD::AllowZRotation::AllowZRotation(const std::string& str) : PrescribedMotion(str) 
 {
 	//Do nothing.
 }
diff --git a/OndselSolver/AllowZRotation.h b/OndselSolver/AllowZRotation.h
index b371234..8820ad1 100644
--- a/OndselSolver/AllowZRotation.h
+++ b/OndselSolver/AllowZRotation.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		AllowZRotation();
-		AllowZRotation(const char* str);
+		AllowZRotation(const std::string& str);
 		static std::shared_ptr<AllowZRotation> With();
 		void initializeGlobally() override;
 		void postPosIC() override;
diff --git a/OndselSolver/AngleJoint.cpp b/OndselSolver/AngleJoint.cpp
index 8387f57..c84161b 100644
--- a/OndselSolver/AngleJoint.cpp
+++ b/OndselSolver/AngleJoint.cpp
@@ -17,7 +17,7 @@ MbD::AngleJoint::AngleJoint()
 {
 }
 
-MbD::AngleJoint::AngleJoint(const char* str) : Joint(str)
+MbD::AngleJoint::AngleJoint(const std::string& str) : Joint(str)
 {
 }
 
diff --git a/OndselSolver/AngleJoint.h b/OndselSolver/AngleJoint.h
index 146713c..1828ea4 100644
--- a/OndselSolver/AngleJoint.h
+++ b/OndselSolver/AngleJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //theIzJz
     public:
         AngleJoint();
-        AngleJoint(const char* str);
+        AngleJoint(const std::string& str);
         void initializeGlobally() override;
 
         double theIzJz = 0.0;
diff --git a/OndselSolver/AtPointJoint.cpp b/OndselSolver/AtPointJoint.cpp
index 03205b8..5726695 100644
--- a/OndselSolver/AtPointJoint.cpp
+++ b/OndselSolver/AtPointJoint.cpp
@@ -16,7 +16,7 @@ MbD::AtPointJoint::AtPointJoint()
 {
 }
 
-MbD::AtPointJoint::AtPointJoint(const char* str) : Joint(str)
+MbD::AtPointJoint::AtPointJoint(const std::string& str) : Joint(str)
 {
 }
 
diff --git a/OndselSolver/AtPointJoint.h b/OndselSolver/AtPointJoint.h
index e27547e..8651ba2 100644
--- a/OndselSolver/AtPointJoint.h
+++ b/OndselSolver/AtPointJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //
     public:
         AtPointJoint();
-        AtPointJoint(const char* str);
+        AtPointJoint(const std::string& str);
 
         void createAtPointConstraints();
 
diff --git a/OndselSolver/BasicIntegrator.cpp b/OndselSolver/BasicIntegrator.cpp
index a897732..5bbe0bc 100644
--- a/OndselSolver/BasicIntegrator.cpp
+++ b/OndselSolver/BasicIntegrator.cpp
@@ -88,7 +88,7 @@ void BasicIntegrator::initialize()
 	opBDF->timeNodes = tpast;
 }
 
-void BasicIntegrator::logString(std::string& str)
+void BasicIntegrator::logString(const std::string& str)
 {
 	system->logString(str);
 }
diff --git a/OndselSolver/BasicIntegrator.h b/OndselSolver/BasicIntegrator.h
index 88f2b3f..9a9aa2d 100644
--- a/OndselSolver/BasicIntegrator.h
+++ b/OndselSolver/BasicIntegrator.h
@@ -38,7 +38,7 @@ namespace MbD {
         void selectOrder() override;
         void subsequentSteps() override;
         void setSystem(Solver* sys) override;
-        void logString(std::string& str) override;
+        void logString(const std::string& str) override;
         
         virtual void setorder(size_t o);
         virtual void settnew(double t);
diff --git a/OndselSolver/CADSystem.cpp b/OndselSolver/CADSystem.cpp
index ce70dc8..22b3014 100644
--- a/OndselSolver/CADSystem.cpp
+++ b/OndselSolver/CADSystem.cpp
@@ -22,7 +22,7 @@
 #include "Part.h"
 #include "MarkerFrame.h"
 #include "PartFrame.h"
-#include "Time.h"
+#include "SymTime.h"
 #include "StateData.h"
 #include "EulerParameters.h"
 
@@ -40,7 +40,7 @@ void CADSystem::outputFor(AnalysisType)
 		});
 }
 
-void CADSystem::logString(std::string& str)
+void CADSystem::logString(const std::string& str)
 {
 	std::cout << str << std::endl;
 }
diff --git a/OndselSolver/CADSystem.h b/OndselSolver/CADSystem.h
index 697467e..407c56d 100644
--- a/OndselSolver/CADSystem.h
+++ b/OndselSolver/CADSystem.h
@@ -25,7 +25,7 @@ namespace MbD {
 		}
 
 		void outputFor(AnalysisType type);
-		void logString(std::string& str);
+		void logString(const std::string& str);
 		void logString(double value);
 		void runOndselSinglePendulum();
 		void runOndselDoublePendulum();
diff --git a/OndselSolver/CMakeLists.txt b/OndselSolver/CMakeLists.txt
new file mode 100644
index 0000000..8e78a85
--- /dev/null
+++ b/OndselSolver/CMakeLists.txt
@@ -0,0 +1,655 @@
+if ( ONDSELSOLVER_BUILD_SHARED )
+    message( STATUS "[OndselSolver] Building shared library" )
+    add_library(OndselSolver SHARED)
+else()
+    message( STATUS "[OndselSolver] Building static library" )
+    add_library(OndselSolver STATIC)
+endif()
+
+set(ONDSELSOLVER_SRC
+        Abs.cpp
+        AbsConstraint.cpp
+        AccICKineNewtonRaphson.cpp
+        AccICNewtonRaphson.cpp
+        AccKineNewtonRaphson.cpp
+        AccNewtonRaphson.cpp
+        AllowZRotation.cpp
+        AllowZRotationConstraintIqctJqc.cpp
+        AngleJoint.cpp
+        AngleZConstraintIJ.cpp
+        AngleZConstraintIqcJc.cpp
+        AngleZConstraintIqcJqc.cpp
+        AngleZIecJec.cpp
+        AngleZIeqcJec.cpp
+        AngleZIeqcJeqc.cpp
+        AnyGeneralSpline.cpp
+        AnyPosICNewtonRaphson.cpp
+        ArcSine.cpp
+        ArcTan.cpp
+        ArcTan2.cpp
+        Arguments.cpp
+        Array.cpp
+        ASMTAllowRotation.cpp
+        ASMTAngleJoint.cpp
+        ASMTAnimationParameters.cpp
+        ASMTAssembly.cpp
+        ASMTConeConeContact.cpp
+        ASMTContact.cpp
+        ASMTCylConeContact.cpp
+        ASMTCylCylContact.cpp
+        ASMTCompoundJoint.cpp
+        ASMTConstantGravity.cpp
+        ASMTConstantVelocityJoint.cpp
+        ASMTConstraintSet.cpp
+        ASMTCylindricalJoint.cpp
+        ASMTCylSphJoint.cpp
+        ASMTExtrusion.cpp
+        ASMTFixedJoint.cpp
+        ASMTForceTorque.cpp
+        ASMTGearJoint.cpp
+        ASMTGeneralMotion.cpp
+        ASMTInPlaneJoint.cpp
+        ASMTItem.cpp
+        ASMTItemIJ.cpp
+        ASMTJoint.cpp
+        ASMTKinematicIJ.cpp
+        ASMTLimit.cpp
+        ASMTLineInPlaneJoint.cpp
+        ASMTMarker.cpp
+        ASMTMotion.cpp
+        ASMTNoRotationJoint.cpp
+        ASMTParallelAxesJoint.cpp
+        ASMTPart.cpp
+        ASMTPerpendicularJoint.cpp
+        ASMTPlanarJoint.cpp
+        ASMTPointInLineJoint.cpp
+        ASMTPointInPlaneJoint.cpp
+        ASMTPrincipalMassMarker.cpp
+        ASMTRackPinionJoint.cpp
+        ASMTRefCurve.cpp
+        ASMTRefItem.cpp
+        ASMTRefPoint.cpp
+        ASMTRefSurface.cpp
+        ASMTRevCylJoint.cpp
+        ASMTRevoluteJoint.cpp
+        ASMTRevRevJoint.cpp
+        ASMTRotationalMotion.cpp
+        ASMTRotationLimit.cpp
+        ASMTScrewJoint.cpp
+        ASMTSimulationParameters.cpp
+        ASMTSpatialContainer.cpp
+        ASMTSpatialItem.cpp
+        ASMTSphericalJoint.cpp
+        ASMTSphSphJoint.cpp
+        ASMTTime.cpp
+        ASMTTranslationalJoint.cpp
+        ASMTTranslationalMotion.cpp
+        ASMTTranslationLimit.cpp
+        ASMTUniversalJoint.cpp
+        AtPointConstraintIJ.cpp
+        AtPointConstraintIqcJc.cpp
+        AtPointConstraintIqcJqc.cpp
+        AtPointConstraintIqctJqc.cpp
+        AtPointJoint.cpp
+        BasicIntegrator.cpp
+        BasicQuasiIntegrator.cpp
+        BasicUserFunction.cpp
+        CADSystem.cpp
+        CartesianFrame.cpp
+        CompoundJoint.cpp
+        Constant.cpp
+        ConstantGravity.cpp
+        ConstantVelocityJoint.cpp
+        Constraint.cpp
+        ConstraintIJ.cpp
+        ConstraintSet.cpp
+        ConstVelConstraintIJ.cpp
+        ConstVelConstraintIqcJc.cpp
+        ConstVelConstraintIqcJqc.cpp
+        Cosine.cpp
+        CREATE.cpp
+        CylindricalJoint.cpp
+        CylSphJoint.cpp
+        DiagonalMatrix.cpp
+        DifferenceOperator.cpp
+        DifferentiatedGeneralSpline.cpp
+        DirectionCosineConstraintIJ.cpp
+        DirectionCosineConstraintIqcJc.cpp
+        DirectionCosineConstraintIqcJqc.cpp
+        DirectionCosineConstraintIqctJqc.cpp
+        DirectionCosineIecJec.cpp
+        DirectionCosineIeqcJec.cpp
+        DirectionCosineIeqcJeqc.cpp
+        DirectionCosineIeqctJeqc.cpp
+        DiscontinuityError.cpp
+        DispCompIecJecIe.cpp
+        DispCompIecJecKec.cpp
+        DispCompIecJecKeqc.cpp
+        DispCompIecJecO.cpp
+        DispCompIeqcJecIe.cpp
+        DispCompIeqcJecKeqc.cpp
+        DispCompIeqcJecO.cpp
+        DispCompIeqcJeqcIe.cpp
+        DispCompIeqcJeqcKeqc.cpp
+        DispCompIeqcJeqcKeqct.cpp
+        DispCompIeqcJeqcO.cpp
+        DispCompIeqctJeqcIe.cpp
+        DispCompIeqctJeqcKeqct.cpp
+        DispCompIeqctJeqcO.cpp
+        DistanceConstraintIJ.cpp
+        DistanceConstraintIqcJc.cpp
+        DistanceConstraintIqcJqc.cpp
+        DistanceConstraintIqctJqc.cpp
+        DistancexyConstraintIJ.cpp
+        DistancexyConstraintIqcJc.cpp
+        DistancexyConstraintIqcJqc.cpp
+        DistIecJec.cpp
+        DistIeqcJec.cpp
+        DistIeqcJeqc.cpp
+        DistIeqctJeqc.cpp
+        DistxyIecJec.cpp
+        DistxyIeqcJec.cpp
+        DistxyIeqcJeqc.cpp
+        DistxyIeqctJeqc.cpp
+        EigenDecomposition.cpp
+        EndFramec.cpp
+        EndFrameqc.cpp
+        EndFrameqct.cpp
+        EndFrameqct2.cpp
+        EulerAngles.cpp
+        EulerAnglesDDot.cpp
+        EulerAnglesDot.cpp
+        EulerAngleszxz.cpp
+        EulerAngleszxzDDot.cpp
+        EulerAngleszxzDot.cpp
+        EulerArray.cpp
+        EulerConstraint.cpp
+        EulerParameters.cpp
+        EulerParametersDDot.cpp
+        EulerParametersDot.cpp
+        Exponential.cpp
+        ExpressionX.cpp
+        ExternalSystem.cpp
+        FixedJoint.cpp
+        ForceTorqueData.cpp
+        ForceTorqueItem.cpp
+        FullColumn.cpp
+        FullMatrix.cpp
+        FullMotion.cpp
+        FullRow.cpp
+        FullVector.cpp
+        Function.cpp
+        FunctionFromData.cpp
+        FunctionWithManyArgs.cpp
+        FunctionX.cpp
+        FunctionXcParameter.cpp
+        FunctionXY.cpp
+        GearConstraintIJ.cpp
+        GearConstraintIqcJc.cpp
+        GearConstraintIqcJqc.cpp
+        GearJoint.cpp
+        GEFullMat.cpp
+        GEFullMatFullPv.cpp
+        GEFullMatParPv.cpp
+        GeneralSpline.cpp
+        GESpMat.cpp
+        GESpMatFullPv.cpp
+        GESpMatFullPvPosIC.cpp
+        GESpMatParPv.cpp
+        GESpMatParPvMarko.cpp
+        GESpMatParPvMarkoFast.cpp
+        GESpMatParPvPrecise.cpp
+        ICKineIntegrator.cpp
+        IndependentVariable.cpp
+        InLineJoint.cpp
+        InPlaneJoint.cpp
+        Integral.cpp
+        Integrator.cpp
+        IntegratorInterface.cpp
+        Item.cpp
+        ItemIJ.cpp
+        Joint.cpp
+        KineIntegrator.cpp
+        KinematicIeJe.cpp
+        LDUFullMat.cpp
+        LDUFullMatParPv.cpp
+        LDUSpMat.cpp
+        LDUSpMatParPv.cpp
+        LDUSpMatParPvMarko.cpp
+        LDUSpMatParPvPrecise.cpp
+        LimitIJ.cpp
+        LinearMultiStepMethod.cpp
+        LineInPlaneJoint.cpp
+        Ln.cpp
+        Log10.cpp
+        LogN.cpp
+        MarkerFrame.cpp
+        MatrixDecomposition.cpp
+        MatrixGaussElimination.cpp
+        MatrixLDU.cpp
+        MatrixSolver.cpp
+        MaximumIterationError.cpp
+        MbDMath.cpp
+        MomentOfInertiaSolver.cpp
+        Negative.cpp
+        NewtonRaphson.cpp
+        NewtonRaphsonError.cpp
+        NoRotationJoint.cpp
+        NotKinematicError.cpp
+        Numeric.cpp
+        OrbitAngleZIecJec.cpp
+        OrbitAngleZIeqcJec.cpp
+        OrbitAngleZIeqcJeqc.cpp
+        Orientation.cpp
+        ParallelAxesJoint.cpp
+        Part.cpp
+        PartFrame.cpp
+        PerpendicularJoint.cpp
+        PiecewiseFunction.cpp
+        PlanarJoint.cpp
+        PointInLineJoint.cpp
+        PointInPlaneJoint.cpp
+        Polynomial.cpp
+        PosICDragLimitNewtonRaphson.cpp
+        PosICDragNewtonRaphson.cpp
+        PosICKineNewtonRaphson.cpp
+        PosICNewtonRaphson.cpp
+        PosKineNewtonRaphson.cpp
+        PosNewtonRaphson.cpp
+        PosVelAccData.cpp
+        Power.cpp
+        PrescribedMotion.cpp
+        Product.cpp
+        QuasiIntegrator.cpp
+        RackPinConstraintIJ.cpp
+        RackPinConstraintIqcJc.cpp
+        RackPinConstraintIqcJqc.cpp
+        RackPinJoint.cpp
+        RampStepFunction.cpp
+        Reciprocal.cpp
+        RedundantConstraint.cpp
+        RevCylJoint.cpp
+        RevoluteJoint.cpp
+        RevRevJoint.cpp
+        RotationLimitIJ.cpp
+        RowTypeMatrix.cpp
+        ScalarNewtonRaphson.cpp
+        ScrewConstraintIJ.cpp
+        ScrewConstraintIqcJc.cpp
+        ScrewConstraintIqcJqc.cpp
+        ScrewJoint.cpp
+        SimulationStoppingError.cpp
+        Sine.cpp
+        SingularMatrixError.cpp
+        Solver.cpp
+        SparseColumn.cpp
+        SparseMatrix.cpp
+        SparseRow.cpp
+        SparseVector.cpp
+        SphericalJoint.cpp
+        SphSphJoint.cpp
+        StableBackwardDifference.cpp
+        StateData.cpp
+        Sum.cpp
+        Symbolic.cpp
+        SymbolicParser.cpp
+        SyntaxError.cpp
+        System.cpp
+        SystemNewtonRaphson.cpp
+        SystemSolver.cpp
+        Time.cpp
+        TooManyTriesError.cpp
+        TooSmallStepSizeError.cpp
+        Translation.cpp
+        TranslationalJoint.cpp
+        TranslationConstraintIJ.cpp
+        TranslationConstraintIqcJc.cpp
+        TranslationConstraintIqcJqc.cpp
+        TranslationConstraintIqctJqc.cpp
+        TranslationLimitIJ.cpp
+        Units.cpp
+        UniversalJoint.cpp
+        UserFunction.cpp
+        Variable.cpp
+        VectorNewtonRaphson.cpp
+        VelICKineSolver.cpp
+        VelICSolver.cpp
+        VelKineSolver.cpp
+        VelSolver.cpp
+        ZRotation.cpp
+        ZTranslation.cpp
+)
+
+set(ONDSELSOLVER_HEADERS
+        Abs.h
+        AbsConstraint.h
+        AccICKineNewtonRaphson.h
+        AccICNewtonRaphson.h
+        AccKineNewtonRaphson.h
+        AccNewtonRaphson.h
+        AllowZRotation.h
+        AllowZRotationConstraintIqctJqc.h
+        AngleJoint.h
+        AngleZConstraintIJ.h
+        AngleZConstraintIqcJc.h
+        AngleZConstraintIqcJqc.h
+        AngleZIecJec.h
+        AngleZIeqcJec.h
+        AngleZIeqcJeqc.h
+        AnyGeneralSpline.h
+        AnyPosICNewtonRaphson.h
+        ArcSine.h
+        ArcTan.h
+        ArcTan2.h
+        Arguments.h
+        Array.h
+        ASMTAllowRotation.h
+        ASMTAngleJoint.h
+        ASMTAnimationParameters.h
+        ASMTAssembly.h
+        ASMTCompoundJoint.h
+        ASMTConstantGravity.h
+        ASMTConstantVelocityJoint.h
+        ASMTConstraintSet.h
+        ASMTCylindricalJoint.h
+        ASMTCylSphJoint.h
+        ASMTExtrusion.h
+        ASMTFixedJoint.h
+        ASMTForceTorque.h
+        ASMTGearJoint.h
+        ASMTGeneralMotion.h
+        ASMTInPlaneJoint.h
+        ASMTItem.h
+        ASMTItemIJ.h
+        ASMTJoint.h
+        ASMTKinematicIJ.h
+        ASMTLimit.h
+        ASMTLineInPlaneJoint.h
+        ASMTMarker.h
+        ASMTMotion.h
+        ASMTNoRotationJoint.h
+        ASMTParallelAxesJoint.h
+        ASMTPart.h
+        ASMTPerpendicularJoint.h
+        ASMTPlanarJoint.h
+        ASMTPointInLineJoint.h
+        ASMTPointInPlaneJoint.h
+        ASMTPrincipalMassMarker.h
+        ASMTRackPinionJoint.h
+        ASMTRefCurve.h
+        ASMTRefItem.h
+        ASMTRefPoint.h
+        ASMTRefSurface.h
+        ASMTRevCylJoint.h
+        ASMTRevoluteJoint.h
+        ASMTRevRevJoint.h
+        ASMTRotationalMotion.h
+        ASMTRotationLimit.h
+        ASMTScrewJoint.h
+        ASMTSimulationParameters.h
+        ASMTSpatialContainer.h
+        ASMTSpatialItem.h
+        ASMTSphericalJoint.h
+        ASMTSphSphJoint.h
+        ASMTTime.h
+        ASMTTranslationalJoint.h
+        ASMTTranslationalMotion.h
+        ASMTTranslationLimit.h
+        ASMTUniversalJoint.h
+        AtPointConstraintIJ.h
+        AtPointConstraintIqcJc.h
+        AtPointConstraintIqcJqc.h
+        AtPointConstraintIqctJqc.h
+        AtPointJoint.h
+        BasicIntegrator.h
+        BasicQuasiIntegrator.h
+        BasicUserFunction.h
+        CADSystem.h
+        CartesianFrame.h
+        CompoundJoint.h
+        ASMTConeConeContact.h
+        ASMTContact.h
+        ASMTCylConeContact.h
+        ASMTCylCylContact.h
+        Constant.h
+        ConstantGravity.h
+        ConstantVelocityJoint.h
+        Constraint.h
+        ConstraintIJ.h
+        ConstraintSet.h
+        ConstVelConstraintIJ.h
+        ConstVelConstraintIqcJc.h
+        ConstVelConstraintIqcJqc.h
+        Cosine.h
+        CREATE.h
+        CylindricalJoint.h
+        CylSphJoint.h
+        DiagonalMatrix.h
+        DifferenceOperator.h
+        DifferentiatedGeneralSpline.h
+        DirectionCosineConstraintIJ.h
+        DirectionCosineConstraintIqcJc.h
+        DirectionCosineConstraintIqcJqc.h
+        DirectionCosineConstraintIqctJqc.h
+        DirectionCosineIecJec.h
+        DirectionCosineIeqcJec.h
+        DirectionCosineIeqcJeqc.h
+        DirectionCosineIeqctJeqc.h
+        DiscontinuityError.h
+        DispCompIecJecIe.h
+        DispCompIecJecKec.h
+        DispCompIecJecKeqc.h
+        DispCompIecJecO.h
+        DispCompIeqcJecIe.h
+        DispCompIeqcJecKeqc.h
+        DispCompIeqcJecO.h
+        DispCompIeqcJeqcIe.h
+        DispCompIeqcJeqcKeqc.h
+        DispCompIeqcJeqcKeqct.h
+        DispCompIeqcJeqcO.h
+        DispCompIeqctJeqcIe.h
+        DispCompIeqctJeqcKeqct.h
+        DispCompIeqctJeqcO.h
+        DistanceConstraintIJ.h
+        DistanceConstraintIqcJc.h
+        DistanceConstraintIqcJqc.h
+        DistanceConstraintIqctJqc.h
+        DistancexyConstraintIJ.h
+        DistancexyConstraintIqcJc.h
+        DistancexyConstraintIqcJqc.h
+        DistIecJec.h
+        DistIeqcJec.h
+        DistIeqcJeqc.h
+        DistIeqctJeqc.h
+        DistxyIecJec.h
+        DistxyIeqcJec.h
+        DistxyIeqcJeqc.h
+        DistxyIeqctJeqc.h
+        EigenDecomposition.h
+        EndFramec.h
+        EndFrameqc.h
+        EndFrameqct.h
+        EndFrameqct2.h
+        enum.h
+        EulerAngles.h
+        EulerAnglesDDot.h
+        EulerAnglesDot.h
+        EulerAngleszxz.h
+        EulerAngleszxzDDot.h
+        EulerAngleszxzDot.h
+        EulerArray.h
+        EulerConstraint.h
+        EulerParameters.h
+        EulerParametersDDot.h
+        EulerParametersDot.h
+        Exponential.h
+        ExpressionX.h
+        ExternalSystem.h
+        FixedJoint.h
+        ForceTorqueData.h
+        ForceTorqueItem.h
+        FullColumn.h
+        FullMatrix.h
+        FullMotion.h
+        FullRow.h
+        FullRow.h
+        FullVector.h
+        Function.h
+        FunctionFromData.h
+        FunctionWithManyArgs.h
+        FunctionX.h
+        FunctionXcParameter.h
+        FunctionXY.h
+        GearConstraintIJ.h
+        GearConstraintIqcJc.h
+        GearConstraintIqcJqc.h
+        GearJoint.h
+        GEFullMat.h
+        GEFullMatFullPv.h
+        GEFullMatParPv.h
+        GeneralSpline.h
+        GESpMat.h
+        GESpMatFullPv.h
+        GESpMatFullPvPosIC.h
+        GESpMatParPv.h
+        GESpMatParPvMarko.h
+        GESpMatParPvMarkoFast.h
+        GESpMatParPvPrecise.h
+        ICKineIntegrator.h
+        IndependentVariable.h
+        InLineJoint.h
+        InPlaneJoint.h
+        Integrator.h
+        IntegratorInterface.h
+        Item.h
+        ItemIJ.h
+        Joint.h
+        KineIntegrator.h
+        KinematicIeJe.h
+        LDUFullMat.h
+        LDUFullMatParPv.h
+        LDUSpMat.h
+        LDUSpMatParPv.h
+        LDUSpMatParPvMarko.h
+        LDUSpMatParPvPrecise.h
+        LimitIJ.h
+        LinearMultiStepMethod.h
+        LineInPlaneJoint.h
+        Ln.h
+        Log10.h
+        LogN.h
+        MarkerFrame.h
+        MatrixDecomposition.h
+        MatrixGaussElimination.h
+        MatrixLDU.h
+        MatrixSolver.h
+        MaximumIterationError.h
+        MbDMath.h
+        MomentOfInertiaSolver.h
+        Negative.h
+        NewtonRaphson.h
+        NewtonRaphsonError.h
+        NoRotationJoint.h
+        NotKinematicError.h
+        Numeric.h
+        OrbitAngleZIecJec.h
+        OrbitAngleZIeqcJec.h
+        OrbitAngleZIeqcJeqc.h
+        Orientation.h
+        ParallelAxesJoint.h
+        Part.h
+        PartFrame.h
+        PerpendicularJoint.h
+        PlanarJoint.h
+        PointInLineJoint.h
+        PointInPlaneJoint.h
+        PosICDragLimitNewtonRaphson.h
+        PosICDragNewtonRaphson.h
+        PosICKineNewtonRaphson.h
+        PosICNewtonRaphson.h
+        PosKineNewtonRaphson.h
+        PosNewtonRaphson.h
+        PosVelAccData.h
+        Power.h
+        PrescribedMotion.h
+        Product.h
+        QuasiIntegrator.h
+        RackPinConstraintIJ.h
+        RackPinConstraintIqcJc.h
+        RackPinConstraintIqcJqc.h
+        RackPinJoint.h
+        Reciprocal.h
+        RedundantConstraint.h
+        resource.h
+        RevCylJoint.h
+        RevoluteJoint.h
+        RevRevJoint.h
+        RotationLimitIJ.h
+        RowTypeMatrix.h
+        ScalarNewtonRaphson.h
+        ScrewConstraintIJ.h
+        ScrewConstraintIqcJc.h
+        ScrewConstraintIqcJqc.h
+        ScrewJoint.h
+        SimulationStoppingError.h
+        Sine.h
+        SingularMatrixError.h
+        Solver.h
+        SparseColumn.h
+        SparseMatrix.h
+        SparseRow.h
+        SparseVector.h
+        SphericalJoint.h
+        SphSphJoint.h
+        StableBackwardDifference.h
+        StateData.h
+        Sum.h
+        Symbolic.h
+        SymbolicParser.h
+        SyntaxError.h
+        System.h
+        SystemNewtonRaphson.h
+        SystemSolver.h
+        SymTime.h
+        TooManyTriesError.h
+        TooSmallStepSizeError.h
+        Translation.h
+        TranslationalJoint.h
+        TranslationConstraintIJ.h
+        TranslationConstraintIqcJc.h
+        TranslationConstraintIqcJqc.h
+        TranslationConstraintIqctJqc.h
+        TranslationLimitIJ.h
+        Units.h
+        UniversalJoint.h
+        UserFunction.h
+        Variable.h
+        VectorNewtonRaphson.h
+        VelICKineSolver.h
+        VelICSolver.h
+        VelKineSolver.h
+        VelSolver.h
+        ZRotation.h
+        ZTranslation.h
+)
+
+target_sources(OndselSolver PRIVATE
+        "${ONDSELSOLVER_SRC}"
+        "${ONDSELSOLVER_HEADERS}")
+
+set_target_properties(OndselSolver
+        PROPERTIES VERSION ${PROJECT_VERSION}
+        SOVERSION 1
+        PUBLIC_HEADER "${ONDSELSOLVER_HEADERS}"
+)
+
+if(MSVC)
+    target_compile_definitions(OndselSolver PRIVATE _USE_MATH_DEFINES)
+endif(MSVC)
+
+configure_file(../OndselSolver.pc.in ${CMAKE_BINARY_DIR}/OndselSolver.pc @ONLY)
+install(TARGETS OndselSolver
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/OndselSolver)
+install(FILES ${CMAKE_BINARY_DIR}/OndselSolver.pc
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/pkgconfig)
diff --git a/OndselSolver/CREATE.h b/OndselSolver/CREATE.h
index 36b9ce3..22fe226 100644
--- a/OndselSolver/CREATE.h
+++ b/OndselSolver/CREATE.h
@@ -23,7 +23,7 @@ namespace MbD {
 	template<typename T>
 	class CREATE {
 	public:
-		static std::shared_ptr<T> With(const char* name) {
+		static std::shared_ptr<T> With(const std::string& name) {
 			auto inst = std::make_shared<T>(name);
 			inst->initialize();
 			return inst;
diff --git a/OndselSolver/CartesianFrame.cpp b/OndselSolver/CartesianFrame.cpp
index 5762847..dda04e6 100644
--- a/OndselSolver/CartesianFrame.cpp
+++ b/OndselSolver/CartesianFrame.cpp
@@ -14,7 +14,7 @@ CartesianFrame::CartesianFrame()
 {
 }
 
-CartesianFrame::CartesianFrame(const char* str) : Item(str)
+CartesianFrame::CartesianFrame(const std::string& str) : Item(str)
 {
 }
 
diff --git a/OndselSolver/CartesianFrame.h b/OndselSolver/CartesianFrame.h
index d255d10..cedaa49 100644
--- a/OndselSolver/CartesianFrame.h
+++ b/OndselSolver/CartesianFrame.h
@@ -15,7 +15,7 @@ namespace MbD {
 	{
 	public:
 		CartesianFrame();
-		CartesianFrame(const char* str);
+		CartesianFrame(const std::string& str);
 		void initialize() override;
 	};
 }
diff --git a/OndselSolver/CompoundJoint.cpp b/OndselSolver/CompoundJoint.cpp
index 4df7549..041a0ef 100644
--- a/OndselSolver/CompoundJoint.cpp
+++ b/OndselSolver/CompoundJoint.cpp
@@ -14,6 +14,6 @@ MbD::CompoundJoint::CompoundJoint()
 {
 }
 
-MbD::CompoundJoint::CompoundJoint(const char* str) : Joint(str)
+MbD::CompoundJoint::CompoundJoint(const std::string& str) : Joint(str)
 {
 }
diff --git a/OndselSolver/CompoundJoint.h b/OndselSolver/CompoundJoint.h
index 96e49bc..3dc988e 100644
--- a/OndselSolver/CompoundJoint.h
+++ b/OndselSolver/CompoundJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//distanceIJ
 	public:
 		CompoundJoint();
-		CompoundJoint(const char* str);
+		CompoundJoint(const std::string& str);
 
 		double distanceIJ = 0.0;
 	};
diff --git a/OndselSolver/ConstantVelocityJoint.cpp b/OndselSolver/ConstantVelocityJoint.cpp
index 23363e8..3c2123e 100644
--- a/OndselSolver/ConstantVelocityJoint.cpp
+++ b/OndselSolver/ConstantVelocityJoint.cpp
@@ -18,7 +18,7 @@ MbD::ConstantVelocityJoint::ConstantVelocityJoint()
 {
 }
 
-MbD::ConstantVelocityJoint::ConstantVelocityJoint(const char* str) : AtPointJoint(str)
+MbD::ConstantVelocityJoint::ConstantVelocityJoint(const std::string& str) : AtPointJoint(str)
 {
 }
 //
diff --git a/OndselSolver/ConstantVelocityJoint.h b/OndselSolver/ConstantVelocityJoint.h
index fabe383..a2a1564 100644
--- a/OndselSolver/ConstantVelocityJoint.h
+++ b/OndselSolver/ConstantVelocityJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //
     public:
         ConstantVelocityJoint();
-        ConstantVelocityJoint(const char* str);
+        ConstantVelocityJoint(const std::string& str);
         //void initializeLocally() override;
         void initializeGlobally() override;
         void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
diff --git a/OndselSolver/Constraint.cpp b/OndselSolver/Constraint.cpp
index 9ce4d86..3b461be 100644
--- a/OndselSolver/Constraint.cpp
+++ b/OndselSolver/Constraint.cpp
@@ -20,7 +20,7 @@ Constraint::Constraint() : Item()
 	aConstant = 0.0;
 }
 
-Constraint::Constraint(const char* str) : Item(str)
+Constraint::Constraint(const std::string& str) : Item(str)
 {
 }
 
diff --git a/OndselSolver/Constraint.h b/OndselSolver/Constraint.h
index 9365b0b..119b627 100644
--- a/OndselSolver/Constraint.h
+++ b/OndselSolver/Constraint.h
@@ -19,7 +19,7 @@ namespace MbD {
 		//iG aG lam mu lamDeriv owner 
 	public:
 		Constraint();
-		Constraint(const char* str);
+		Constraint(const std::string& str);
 
 		void initialize() override;
 		virtual void addToJointForceI(FColDsptr col);
diff --git a/OndselSolver/ConstraintSet.cpp b/OndselSolver/ConstraintSet.cpp
index c9c6f10..5fad7dc 100644
--- a/OndselSolver/ConstraintSet.cpp
+++ b/OndselSolver/ConstraintSet.cpp
@@ -11,7 +11,7 @@ MbD::ConstraintSet::ConstraintSet()
 {
 }
 
-MbD::ConstraintSet::ConstraintSet(const char* str) : ItemIJ(str)
+MbD::ConstraintSet::ConstraintSet(const std::string& str) : ItemIJ(str)
 {
 }
 
diff --git a/OndselSolver/ConstraintSet.h b/OndselSolver/ConstraintSet.h
index 777ddf6..d75968d 100644
--- a/OndselSolver/ConstraintSet.h
+++ b/OndselSolver/ConstraintSet.h
@@ -18,7 +18,7 @@ namespace MbD {
 		//
 	public:
 		ConstraintSet();
-		ConstraintSet(const char* str);
+		ConstraintSet(const std::string& str);
 		void constraintsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
 		void initialize() override;
 		void initializeGlobally() override;
diff --git a/OndselSolver/CylSphJoint.cpp b/OndselSolver/CylSphJoint.cpp
index 389cc7d..d4a6b07 100644
--- a/OndselSolver/CylSphJoint.cpp
+++ b/OndselSolver/CylSphJoint.cpp
@@ -17,7 +17,7 @@ MbD::CylSphJoint::CylSphJoint()
 {
 }
 
-MbD::CylSphJoint::CylSphJoint(const char* str) : CompoundJoint(str)
+MbD::CylSphJoint::CylSphJoint(const std::string& str) : CompoundJoint(str)
 {
 }
 
diff --git a/OndselSolver/CylSphJoint.h b/OndselSolver/CylSphJoint.h
index 5c17675..4e9457e 100644
--- a/OndselSolver/CylSphJoint.h
+++ b/OndselSolver/CylSphJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		CylSphJoint();
-		CylSphJoint(const char* str);
+		CylSphJoint(const std::string& str);
 		void initializeGlobally() override;
 
 
diff --git a/OndselSolver/CylindricalJoint.cpp b/OndselSolver/CylindricalJoint.cpp
index 8649524..b101bb8 100644
--- a/OndselSolver/CylindricalJoint.cpp
+++ b/OndselSolver/CylindricalJoint.cpp
@@ -18,7 +18,7 @@ CylindricalJoint::CylindricalJoint()
 {
 }
 
-CylindricalJoint::CylindricalJoint(const char* str) : InLineJoint(str) 
+CylindricalJoint::CylindricalJoint(const std::string& str) : InLineJoint(str) 
 {
 }
 
diff --git a/OndselSolver/CylindricalJoint.h b/OndselSolver/CylindricalJoint.h
index 6c234fb..4601599 100644
--- a/OndselSolver/CylindricalJoint.h
+++ b/OndselSolver/CylindricalJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //frmI frmJ constraints friction 
     public:
         CylindricalJoint();
-        CylindricalJoint(const char* str);
+        CylindricalJoint(const std::string& str);
         void initializeGlobally() override;
     };
 }
diff --git a/OndselSolver/EndFramec.cpp b/OndselSolver/EndFramec.cpp
index cde2b42..660fb9b 100644
--- a/OndselSolver/EndFramec.cpp
+++ b/OndselSolver/EndFramec.cpp
@@ -19,7 +19,7 @@ using namespace MbD;
 EndFramec::EndFramec() {
 }
 
-EndFramec::EndFramec(const char* str) : CartesianFrame(str) {
+EndFramec::EndFramec(const std::string& str) : CartesianFrame(str) {
 }
 
 FMatDsptr MbD::EndFramec::aAeO()
diff --git a/OndselSolver/EndFramec.h b/OndselSolver/EndFramec.h
index 740150a..f33a5dc 100644
--- a/OndselSolver/EndFramec.h
+++ b/OndselSolver/EndFramec.h
@@ -23,7 +23,7 @@ namespace MbD {
 		//markerFrame rOeO aAOe 
 	public:
 		EndFramec();
-		EndFramec(const char* str);
+		EndFramec(const std::string& str);
 
 		FMatDsptr aAeO();
 		System* root() override;
diff --git a/OndselSolver/EndFrameqc.cpp b/OndselSolver/EndFrameqc.cpp
index 27f79a8..a45f415 100644
--- a/OndselSolver/EndFrameqc.cpp
+++ b/OndselSolver/EndFrameqc.cpp
@@ -20,7 +20,7 @@ using namespace MbD;
 EndFrameqc::EndFrameqc() {
 }
 
-EndFrameqc::EndFrameqc(const char* str) : EndFramec(str) {
+EndFrameqc::EndFrameqc(const std::string& str) : EndFramec(str) {
 }
 
 void EndFrameqc::initialize()
diff --git a/OndselSolver/EndFrameqc.h b/OndselSolver/EndFrameqc.h
index 8447102..7efb62c 100644
--- a/OndselSolver/EndFrameqc.h
+++ b/OndselSolver/EndFrameqc.h
@@ -21,7 +21,7 @@ namespace MbD {
         //prOeOpE pprOeOpEpE pAOepE ppAOepEpE
     public:
         EndFrameqc();
-        EndFrameqc(const char* str);
+        EndFrameqc(const std::string& str);
         void initialize() override;
         void initializeGlobally() override;
         void initEndFrameqct() override;
diff --git a/OndselSolver/EndFrameqct.cpp b/OndselSolver/EndFrameqct.cpp
index 23336aa..a898d2e 100644
--- a/OndselSolver/EndFrameqct.cpp
+++ b/OndselSolver/EndFrameqct.cpp
@@ -10,7 +10,7 @@
 #include "MarkerFrame.h"
 #include "System.h"
 #include "Symbolic.h"
-#include "Time.h"
+#include "SymTime.h"
 #include "EulerParameters.h"
 #include "CREATE.h"
 #include "EulerAngleszxz.h"
@@ -22,7 +22,7 @@ using namespace MbD;
 EndFrameqct::EndFrameqct() {
 }
 
-EndFrameqct::EndFrameqct(const char* str) : EndFrameqc(str) {
+EndFrameqct::EndFrameqct(const std::string& str) : EndFrameqc(str) {
 }
 
 void EndFrameqct::initialize()
diff --git a/OndselSolver/EndFrameqct.h b/OndselSolver/EndFrameqct.h
index 415069e..924a834 100644
--- a/OndselSolver/EndFrameqct.h
+++ b/OndselSolver/EndFrameqct.h
@@ -21,7 +21,7 @@ namespace MbD {
 		//rmem prmempt pprmemptpt aAme pAmept ppAmeptpt prOeOpt pprOeOpEpt pprOeOptpt pAOept ppAOepEpt ppAOeptpt 
 	public:
 		EndFrameqct();
-		EndFrameqct(const char* str);
+		EndFrameqct(const std::string& str);
 		void initialize() override;
 		void initializeLocally() override;
 		void initializeGlobally() override;
diff --git a/OndselSolver/EndFrameqct2.cpp b/OndselSolver/EndFrameqct2.cpp
index 3f9a86b..e9eb667 100644
--- a/OndselSolver/EndFrameqct2.cpp
+++ b/OndselSolver/EndFrameqct2.cpp
@@ -10,7 +10,7 @@
 #include "MarkerFrame.h"
 #include "System.h"
 #include "Symbolic.h"
-#include "Time.h"
+#include "SymTime.h"
 #include "EulerParameters.h"
 #include "CREATE.h"
 #include "EulerAngleszxz.h"
@@ -22,7 +22,7 @@ using namespace MbD;
 EndFrameqct2::EndFrameqct2() {
 }
 
-EndFrameqct2::EndFrameqct2(const char* str) : EndFrameqct(str) {
+EndFrameqct2::EndFrameqct2(const std::string& str) : EndFrameqct(str) {
 }
 
 void EndFrameqct2::initpPhiThePsiptBlks()
diff --git a/OndselSolver/EndFrameqct2.h b/OndselSolver/EndFrameqct2.h
index 53c9cd1..9cc2bd4 100644
--- a/OndselSolver/EndFrameqct2.h
+++ b/OndselSolver/EndFrameqct2.h
@@ -22,7 +22,7 @@ namespace MbD {
 		//
 	public:
 		EndFrameqct2();
-		EndFrameqct2(const char* str);
+		EndFrameqct2(const std::string& str);
 		void initpPhiThePsiptBlks() override;
 		void initppPhiThePsiptptBlks() override;
 		void evalAme() override;
diff --git a/OndselSolver/EulerConstraint.cpp b/OndselSolver/EulerConstraint.cpp
index bce236b..7ef6b73 100644
--- a/OndselSolver/EulerConstraint.cpp
+++ b/OndselSolver/EulerConstraint.cpp
@@ -17,7 +17,7 @@ EulerConstraint::EulerConstraint()
 
 }
 
-EulerConstraint::EulerConstraint(const char* str) : Constraint(str)
+EulerConstraint::EulerConstraint(const std::string& str) : Constraint(str)
 {
 }
 
diff --git a/OndselSolver/EulerConstraint.h b/OndselSolver/EulerConstraint.h
index c71a021..2e6cdcc 100644
--- a/OndselSolver/EulerConstraint.h
+++ b/OndselSolver/EulerConstraint.h
@@ -20,7 +20,7 @@ namespace MbD {
 		//pGpE iqE 
 	public:
 		EulerConstraint();
-		EulerConstraint(const char* str);
+		EulerConstraint(const std::string& str);
 		void initialize() override;
 		void calcPostDynCorrectorIteration() override;
 		void useEquationNumbers() override;
diff --git a/OndselSolver/ExternalSystem.cpp b/OndselSolver/ExternalSystem.cpp
index 399b763..690d8f3 100644
--- a/OndselSolver/ExternalSystem.cpp
+++ b/OndselSolver/ExternalSystem.cpp
@@ -59,7 +59,7 @@ void MbD::ExternalSystem::outputFor(AnalysisType type)
 	}
 }
 
-void MbD::ExternalSystem::logString(std::string& str)
+void MbD::ExternalSystem::logString(const std::string& str)
 {
 	std::cout << str << std::endl;
 }
diff --git a/OndselSolver/ExternalSystem.h b/OndselSolver/ExternalSystem.h
index 65730ec..39d4cad 100644
--- a/OndselSolver/ExternalSystem.h
+++ b/OndselSolver/ExternalSystem.h
@@ -29,7 +29,7 @@ namespace MbD {
 		void preMbDrunDragStep(std::shared_ptr<System> mbdSys, std::shared_ptr<std::vector<std::shared_ptr<Part>>> dragParts);
 		void updateFromMbD();
 		void outputFor(AnalysisType type);
-		void logString(std::string& str);
+		void logString(const std::string& str);
 		void logString(double value);
 		void runOndselPiston();
 		void runPiston();
diff --git a/OndselSolver/FixedJoint.cpp b/OndselSolver/FixedJoint.cpp
index a193bc1..8a42bb0 100644
--- a/OndselSolver/FixedJoint.cpp
+++ b/OndselSolver/FixedJoint.cpp
@@ -16,7 +16,7 @@ MbD::FixedJoint::FixedJoint()
 {
 }
 
-MbD::FixedJoint::FixedJoint(const char* str) : AtPointJoint(str)
+MbD::FixedJoint::FixedJoint(const std::string& str) : AtPointJoint(str)
 {
 }
 
diff --git a/OndselSolver/FixedJoint.h b/OndselSolver/FixedJoint.h
index 5bd9159..17643b4 100644
--- a/OndselSolver/FixedJoint.h
+++ b/OndselSolver/FixedJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		FixedJoint();
-		FixedJoint(const char* str);
+		FixedJoint(const std::string& str);
 		void initializeGlobally() override;
 
 
diff --git a/OndselSolver/FullMotion.cpp b/OndselSolver/FullMotion.cpp
index 71caf9d..a67ca70 100644
--- a/OndselSolver/FullMotion.cpp
+++ b/OndselSolver/FullMotion.cpp
@@ -16,7 +16,7 @@ MbD::FullMotion::FullMotion()
 {
 }
 
-MbD::FullMotion::FullMotion(const char*)
+MbD::FullMotion::FullMotion(const std::string&)
 {
 }
 
diff --git a/OndselSolver/FullMotion.h b/OndselSolver/FullMotion.h
index 1fe9cf3..50ca411 100644
--- a/OndselSolver/FullMotion.h
+++ b/OndselSolver/FullMotion.h
@@ -19,7 +19,7 @@ namespace MbD {
 		//frIJI fangIJJ 
 	public:
 		FullMotion();
-		FullMotion(const char* str);
+		FullMotion(const std::string& str);
 		void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
 		void initializeGlobally() override;
 		void initMotions() override;
diff --git a/OndselSolver/FunctionX.cpp b/OndselSolver/FunctionX.cpp
index 461653c..8126c69 100644
--- a/OndselSolver/FunctionX.cpp
+++ b/OndselSolver/FunctionX.cpp
@@ -26,10 +26,9 @@ void MbD::FunctionX::arguments(Symsptr args)
 	xx = arguments->terms->front();
 }
 
-Symsptr MbD::FunctionX::copyWith(Symsptr)
+Symsptr MbD::FunctionX::copyWith(Symsptr self)
 {
-	assert(false);
-	return Symsptr();
+	return self;
 }
 
 Symsptr MbD::FunctionX::expandUntil(Symsptr sptr, std::shared_ptr<std::unordered_set<Symsptr>> set)
diff --git a/OndselSolver/GESpMatParPvPrecise.cpp b/OndselSolver/GESpMatParPvPrecise.cpp
index bd10eb1..f2edc56 100644
--- a/OndselSolver/GESpMatParPvPrecise.cpp
+++ b/OndselSolver/GESpMatParPvPrecise.cpp
@@ -10,6 +10,7 @@
 
 #include "GESpMatParPvPrecise.h"
 #include "SingularMatrixError.h"
+#include "CREATE.h"
 
 using namespace MbD;
 
@@ -104,3 +105,22 @@ void GESpMatParPvPrecise::preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr f
 		rowOrder->at(i) = i;
 	}
 }
+
+void MbD::GESpMatParPvPrecise::runSpMat()
+{
+	auto spMat = std::make_shared<SparseMatrix<double>>(3, 3);
+	spMat->atijput(0, 0, 1.0);
+	spMat->atijput(0, 1, 1.0);
+	spMat->atijput(1, 0, 1.0);
+	spMat->atijput(1, 1, 1.0);
+	spMat->atijput(1, 2, 1.0);
+	spMat->atijput(2, 1, 1.0);
+	spMat->atijput(2, 2, 1.0);
+	auto fullCol = std::make_shared<FullColumn<double>>(3);
+	fullCol->atiput(0, 1.0);
+	fullCol->atiput(1, 2.0);
+	fullCol->atiput(2, 3.0);
+	auto matSolver = CREATE<GESpMatParPvPrecise>::With();
+	auto answer = matSolver->solvewithsaveOriginal(spMat, fullCol, true);
+	auto aAx = spMat->timesFullColumn(answer);
+}
diff --git a/OndselSolver/GESpMatParPvPrecise.h b/OndselSolver/GESpMatParPvPrecise.h
index 17db611..9c9172e 100644
--- a/OndselSolver/GESpMatParPvPrecise.h
+++ b/OndselSolver/GESpMatParPvPrecise.h
@@ -17,6 +17,7 @@ namespace MbD {
     public:
         void doPivoting(size_t p) override;
         void preSolvewithsaveOriginal(SpMatDsptr spMat, FColDsptr fullCol, bool saveOriginal) override;
+        static void runSpMat();
 
     };
 }
diff --git a/OndselSolver/GearJoint.cpp b/OndselSolver/GearJoint.cpp
index 687a3fb..1e3a855 100644
--- a/OndselSolver/GearJoint.cpp
+++ b/OndselSolver/GearJoint.cpp
@@ -17,7 +17,7 @@ MbD::GearJoint::GearJoint()
 {
 }
 
-MbD::GearJoint::GearJoint(const char*)
+MbD::GearJoint::GearJoint(const std::string&)
 {
 }
 //
diff --git a/OndselSolver/GearJoint.h b/OndselSolver/GearJoint.h
index cbf285e..ffedb6d 100644
--- a/OndselSolver/GearJoint.h
+++ b/OndselSolver/GearJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//radiusI radiusJ aConstant 
 	public:
 		GearJoint();
-		GearJoint(const char* str);
+		GearJoint(const std::string& str);
 
 		//void initializeLocally() override;
 		void initializeGlobally() override;
diff --git a/OndselSolver/ICKineIntegrator.cpp b/OndselSolver/ICKineIntegrator.cpp
index 037b025..1fdfcd4 100644
--- a/OndselSolver/ICKineIntegrator.cpp
+++ b/OndselSolver/ICKineIntegrator.cpp
@@ -30,7 +30,7 @@ void ICKineIntegrator::selectOrder()
 
 void ICKineIntegrator::preRun()
 {
-	system->Solver::logString("MbD: Starting quasi kinematic analysis.");
+	system->logString("MbD: Starting quasi kinematic analysis.");
 	QuasiIntegrator::preRun();
 }
 
diff --git a/OndselSolver/InLineJoint.cpp b/OndselSolver/InLineJoint.cpp
index 31f9fab..c30396b 100644
--- a/OndselSolver/InLineJoint.cpp
+++ b/OndselSolver/InLineJoint.cpp
@@ -13,7 +13,7 @@ MbD::InLineJoint::InLineJoint()
 {
 }
 
-MbD::InLineJoint::InLineJoint(const char*)
+MbD::InLineJoint::InLineJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/InLineJoint.h b/OndselSolver/InLineJoint.h
index 334b449..e8957d7 100644
--- a/OndselSolver/InLineJoint.h
+++ b/OndselSolver/InLineJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//Abstract class. Create subclasses only.
 	public:
 		InLineJoint();
-		InLineJoint(const char* str);
+		InLineJoint(const std::string& str);
 		virtual void initializeGlobally() = 0;	//To prevent instantiation of this class
 
 		void createInLineConstraints();
diff --git a/OndselSolver/InPlaneJoint.cpp b/OndselSolver/InPlaneJoint.cpp
index 0105a93..7c7feba 100644
--- a/OndselSolver/InPlaneJoint.cpp
+++ b/OndselSolver/InPlaneJoint.cpp
@@ -13,7 +13,7 @@ MbD::InPlaneJoint::InPlaneJoint()
 {
 }
 
-MbD::InPlaneJoint::InPlaneJoint(const char*)
+MbD::InPlaneJoint::InPlaneJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/InPlaneJoint.h b/OndselSolver/InPlaneJoint.h
index a85ffa6..70a9e80 100644
--- a/OndselSolver/InPlaneJoint.h
+++ b/OndselSolver/InPlaneJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//offset
 	public:
 		InPlaneJoint();
-		InPlaneJoint(const char* str);
+		InPlaneJoint(const std::string& str);
 		virtual void initializeGlobally() = 0;	//To prevent instantiation of this class
 
 		void createInPlaneConstraint();
diff --git a/OndselSolver/IntegratorInterface.cpp b/OndselSolver/IntegratorInterface.cpp
index c7727e8..af6b3a0 100644
--- a/OndselSolver/IntegratorInterface.cpp
+++ b/OndselSolver/IntegratorInterface.cpp
@@ -30,7 +30,7 @@ void IntegratorInterface::setSystem(Solver* sys)
 	system = static_cast<SystemSolver*>(sys);
 }
 
-void IntegratorInterface::logString(std::string& str)
+void IntegratorInterface::logString(const std::string& str)
 {
 	system->logString(str);
 }
diff --git a/OndselSolver/IntegratorInterface.h b/OndselSolver/IntegratorInterface.h
index a7f33c7..77a801f 100644
--- a/OndselSolver/IntegratorInterface.h
+++ b/OndselSolver/IntegratorInterface.h
@@ -24,7 +24,7 @@ namespace MbD {
         virtual void checkForDiscontinuity() = 0;
         
         void setSystem(Solver* sys) override;
-        void logString(std::string& str) override;
+        void logString(const std::string& str) override;
         void run() override;
         size_t orderMax();
         virtual void incrementTime(double tnew);
diff --git a/OndselSolver/Item.cpp b/OndselSolver/Item.cpp
index 67713bc..4435d5d 100644
--- a/OndselSolver/Item.cpp
+++ b/OndselSolver/Item.cpp
@@ -24,7 +24,7 @@ Item::Item() {
 	name = std::to_string(nanoseconds);
 }
 
-Item::Item(const char* str) : name(str)
+Item::Item(const std::string& str) : name(str)
 {
 }
 
@@ -377,11 +377,6 @@ void Item::fillVelICJacob(SpMatDsptr)
 {
 }
 
-void MbD::Item::getString(std::string)
-{
-	assert(false);
-}
-
 void Item::setqsudotlam(FColDsptr)
 {
 }
@@ -549,23 +544,17 @@ void Item::useEquationNumbers()
 {
 }
 
-void Item::logString(std::string& str)
+void Item::logString(const std::string& str)
 {
 	this->root()->logString(str);
 }
 
-void Item::logString(const char* chars)
-{
-	std::string str = chars;
-	this->logString(str);
-}
-
-void MbD::Item::logStringwithArgument(const char*, const char*)
+void MbD::Item::logStringwithArgument(const std::string&, const std::string&)
 {
 	assert(false);
 }
 
-void MbD::Item::logStringwithArguments(const char*, std::shared_ptr<std::vector<char*>>)
+void MbD::Item::logStringwithArguments(const std::string&, std::shared_ptr<std::vector<std::string>>)
 {
 	assert(false);
 }
diff --git a/OndselSolver/Item.h b/OndselSolver/Item.h
index 4ef7158..ff6e50e 100644
--- a/OndselSolver/Item.h
+++ b/OndselSolver/Item.h
@@ -27,7 +27,7 @@ namespace MbD {
 		//name
 	public:
 		Item();
-		Item(const char* str);
+		Item(const std::string& str);
 		virtual ~Item() {}
 		virtual System* root();
 		void noop();
@@ -73,7 +73,6 @@ namespace MbD {
 		virtual void fillStaticJacob(FMatDsptr mat);
 		virtual void fillVelICError(FColDsptr col);
 		virtual void fillVelICJacob(SpMatDsptr mat);
-		virtual void getString(std::string str);
 		virtual void initialize();
 		virtual void initializeGlobally();
 		virtual void initializeLocally();
@@ -81,10 +80,9 @@ namespace MbD {
 		virtual bool isJointTorque();
 		virtual bool isKinedotIJ();
 		virtual bool isKineIJ();
-		virtual void logString(std::string& str);
-		void logString(const char* chars);
-		virtual void logStringwithArgument(const char* chars, const char* chars1);
-		virtual void logStringwithArguments(const char* chars, std::shared_ptr<std::vector<char*>> arrayOfChars);
+		virtual void logString(const std::string& str);
+		virtual void logStringwithArgument(const std::string& chars, const std::string& chars1);
+		virtual void logStringwithArguments(const std::string& chars, std::shared_ptr<std::vector<std::string>> arrayOfChars);
 		virtual void normalImpulse(double imp);
 		virtual void postAccIC();
 		virtual void postAccICIteration();
diff --git a/OndselSolver/ItemIJ.cpp b/OndselSolver/ItemIJ.cpp
index ce5e8f2..5008085 100644
--- a/OndselSolver/ItemIJ.cpp
+++ b/OndselSolver/ItemIJ.cpp
@@ -6,7 +6,7 @@ MbD::ItemIJ::ItemIJ()
 {
 }
 
-MbD::ItemIJ::ItemIJ(const char* str) : Item(str)
+MbD::ItemIJ::ItemIJ(const std::string& str) : Item(str)
 {
 }
 
diff --git a/OndselSolver/ItemIJ.h b/OndselSolver/ItemIJ.h
index 9f3fd5d..64819af 100644
--- a/OndselSolver/ItemIJ.h
+++ b/OndselSolver/ItemIJ.h
@@ -19,7 +19,7 @@ namespace MbD {
 		//
 	public:
 		ItemIJ();
-		ItemIJ(const char* str);
+		ItemIJ(const std::string& str);
 		ItemIJ(EndFrmsptr frmi, EndFrmsptr frmj);
 		virtual void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ);
 
diff --git a/OndselSolver/Joint.cpp b/OndselSolver/Joint.cpp
index 786c195..80de74f 100644
--- a/OndselSolver/Joint.cpp
+++ b/OndselSolver/Joint.cpp
@@ -26,7 +26,7 @@ Joint::Joint() {
 
 }
 
-Joint::Joint(const char* str) : ConstraintSet(str) {
+Joint::Joint(const std::string& str) : ConstraintSet(str) {
 
 }
 
diff --git a/OndselSolver/Joint.h b/OndselSolver/Joint.h
index b0b425c..765430c 100644
--- a/OndselSolver/Joint.h
+++ b/OndselSolver/Joint.h
@@ -24,7 +24,7 @@ namespace MbD {
 		//frmI frmJ constraints friction 
 	public:
 		Joint();
-		Joint(const char* str);
+		Joint(const std::string& str);
 		virtual ~Joint() {}
 
 		void initializeLocally() override;
diff --git a/OndselSolver/KineIntegrator.cpp b/OndselSolver/KineIntegrator.cpp
index 072cac1..709d8b1 100644
--- a/OndselSolver/KineIntegrator.cpp
+++ b/OndselSolver/KineIntegrator.cpp
@@ -16,7 +16,7 @@ using namespace MbD;
 
 void KineIntegrator::preRun()
 {
-	system->Solver::logString("MbD: Starting kinematic analysis.");
+	system->logString("MbD: Starting kinematic analysis.");
 	QuasiIntegrator::preRun();
 }
 
diff --git a/OndselSolver/LineInPlaneJoint.cpp b/OndselSolver/LineInPlaneJoint.cpp
index a6c71e6..5cf740e 100644
--- a/OndselSolver/LineInPlaneJoint.cpp
+++ b/OndselSolver/LineInPlaneJoint.cpp
@@ -16,7 +16,7 @@ MbD::LineInPlaneJoint::LineInPlaneJoint()
 {
 }
 
-MbD::LineInPlaneJoint::LineInPlaneJoint(const char*)
+MbD::LineInPlaneJoint::LineInPlaneJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/LineInPlaneJoint.h b/OndselSolver/LineInPlaneJoint.h
index cb03d20..1c24358 100644
--- a/OndselSolver/LineInPlaneJoint.h
+++ b/OndselSolver/LineInPlaneJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		LineInPlaneJoint();
-		LineInPlaneJoint(const char* str);
+		LineInPlaneJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/MarkerFrame.cpp b/OndselSolver/MarkerFrame.cpp
index ad39e72..c0a2d19 100644
--- a/OndselSolver/MarkerFrame.cpp
+++ b/OndselSolver/MarkerFrame.cpp
@@ -21,7 +21,7 @@ MarkerFrame::MarkerFrame()
 {
 }
 
-MarkerFrame::MarkerFrame(const char* str) : CartesianFrame(str) {
+MarkerFrame::MarkerFrame(const std::string& str) : CartesianFrame(str) {
 }
 
 System* MarkerFrame::root()
diff --git a/OndselSolver/MarkerFrame.h b/OndselSolver/MarkerFrame.h
index 9b253a6..779e445 100644
--- a/OndselSolver/MarkerFrame.h
+++ b/OndselSolver/MarkerFrame.h
@@ -28,7 +28,7 @@ namespace MbD {
 		//partFrame rpmp aApm rOmO aAOm prOmOpE pAOmpE pprOmOpEpE ppAOmpEpE endFrames 
 	public:
 		MarkerFrame();
-        MarkerFrame(const char* str);
+        MarkerFrame(const std::string& str);
 		System* root() override;
 		void initialize() override;
 		void setPartFrame(PartFrame* partFrm);
diff --git a/OndselSolver/MatrixSolver.cpp b/OndselSolver/MatrixSolver.cpp
index f21b560..0dec2a4 100644
--- a/OndselSolver/MatrixSolver.cpp
+++ b/OndselSolver/MatrixSolver.cpp
@@ -70,12 +70,12 @@ void MatrixSolver::findScalingsForRowRange(size_t begin, size_t end)
 	}
 }
 
-void MatrixSolver::throwSingularMatrixError(const char* chars)
+void MatrixSolver::throwSingularMatrixError(const std::string& chars)
 {
 	throw SingularMatrixError(chars);
 }
 
-void MatrixSolver::throwSingularMatrixError(const char* chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos)
+void MatrixSolver::throwSingularMatrixError(const std::string& chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos)
 {
 	throw SingularMatrixError(chars, redunEqnNos);
 }
diff --git a/OndselSolver/MatrixSolver.h b/OndselSolver/MatrixSolver.h
index 75df028..39e4be4 100644
--- a/OndselSolver/MatrixSolver.h
+++ b/OndselSolver/MatrixSolver.h
@@ -40,8 +40,8 @@ namespace MbD {
         virtual void postSolve() = 0;
         virtual void findScalingsForRowRange(size_t begin, size_t end);
         virtual double getmatrixArowimaxMagnitude(size_t i) = 0;
-        void throwSingularMatrixError(const char* chars);
-        void throwSingularMatrixError(const char* chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos);
+        void throwSingularMatrixError(const std::string& chars);
+        void throwSingularMatrixError(const std::string& chars, std::shared_ptr<FullColumn<size_t>> redunEqnNos);
 
         size_t m = 0, n = 0;
         FColDsptr answerX, rightHandSideB, rowScalings, pivotValues;
diff --git a/OndselSolver/NoRotationJoint.cpp b/OndselSolver/NoRotationJoint.cpp
index d55f8e4..d611b3e 100644
--- a/OndselSolver/NoRotationJoint.cpp
+++ b/OndselSolver/NoRotationJoint.cpp
@@ -17,7 +17,7 @@ MbD::NoRotationJoint::NoRotationJoint()
 {
 }
 
-MbD::NoRotationJoint::NoRotationJoint(const char*)
+MbD::NoRotationJoint::NoRotationJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/NoRotationJoint.h b/OndselSolver/NoRotationJoint.h
index 8146e90..514d2d7 100644
--- a/OndselSolver/NoRotationJoint.h
+++ b/OndselSolver/NoRotationJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		NoRotationJoint();
-		NoRotationJoint(const char* str);
+		NoRotationJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/Orientation.cpp b/OndselSolver/Orientation.cpp
index 0dfdea4..89dda45 100644
--- a/OndselSolver/Orientation.cpp
+++ b/OndselSolver/Orientation.cpp
@@ -16,7 +16,7 @@ MbD::Orientation::Orientation()
 {
 }
 
-MbD::Orientation::Orientation(const char*)
+MbD::Orientation::Orientation(const std::string&)
 {
 }
 
diff --git a/OndselSolver/Orientation.h b/OndselSolver/Orientation.h
index bc6566d..3e30b61 100644
--- a/OndselSolver/Orientation.h
+++ b/OndselSolver/Orientation.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		Orientation();
-		Orientation(const char* str);
+		Orientation(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/ParallelAxesJoint.cpp b/OndselSolver/ParallelAxesJoint.cpp
index 380c0f3..81d4964 100644
--- a/OndselSolver/ParallelAxesJoint.cpp
+++ b/OndselSolver/ParallelAxesJoint.cpp
@@ -16,7 +16,7 @@ MbD::ParallelAxesJoint::ParallelAxesJoint()
 {
 }
 
-MbD::ParallelAxesJoint::ParallelAxesJoint(const char*)
+MbD::ParallelAxesJoint::ParallelAxesJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/ParallelAxesJoint.h b/OndselSolver/ParallelAxesJoint.h
index 4e927ee..dc61a8a 100644
--- a/OndselSolver/ParallelAxesJoint.h
+++ b/OndselSolver/ParallelAxesJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		ParallelAxesJoint();
-		ParallelAxesJoint(const char* str);
+		ParallelAxesJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/Part.cpp b/OndselSolver/Part.cpp
index 2b19cf0..380dbdd 100644
--- a/OndselSolver/Part.cpp
+++ b/OndselSolver/Part.cpp
@@ -22,7 +22,7 @@ using namespace MbD;
 Part::Part() {
 }
 
-Part::Part(const char* str) : Item(str) {
+Part::Part(const std::string& str) : Item(str) {
 }
 
 System* MbD::Part::root()
diff --git a/OndselSolver/Part.h b/OndselSolver/Part.h
index 35f57c1..610ef7a 100644
--- a/OndselSolver/Part.h
+++ b/OndselSolver/Part.h
@@ -22,7 +22,7 @@ namespace MbD {
 		//ToDo: ipX ipE m aJ partFrame pX pXdot pE pEdot mX mE mEdot pTpE ppTpEpE ppTpEpEdot 
 	public:
 		Part();
-		Part(const char* str);
+		Part(const std::string& str);
 		System* root() override;
 		void initialize() override;
 		void initializeLocally() override;
diff --git a/OndselSolver/PartFrame.cpp b/OndselSolver/PartFrame.cpp
index 35e9185..a641604 100644
--- a/OndselSolver/PartFrame.cpp
+++ b/OndselSolver/PartFrame.cpp
@@ -24,7 +24,7 @@ using namespace MbD;
 PartFrame::PartFrame()
 {
 }
-PartFrame::PartFrame(const char* str) : CartesianFrame(str)
+PartFrame::PartFrame(const std::string& str) : CartesianFrame(str)
 {
 }
 System* PartFrame::root()
@@ -127,7 +127,7 @@ void PartFrame::addMarkerFrame(std::shared_ptr<MarkerFrame> markerFrame)
 	markerFrames->push_back(markerFrame);
 }
 
-EndFrmsptr PartFrame::endFrame(std::string name)
+EndFrmsptr PartFrame::endFrame(const std::string& name)
 {
 	auto match = std::find_if(markerFrames->begin(), markerFrames->end(), [&](auto& mkr) {return mkr->name == name; });
 	return (*match)->endFrames->at(0);
diff --git a/OndselSolver/PartFrame.h b/OndselSolver/PartFrame.h
index 61c19bd..12c41ab 100644
--- a/OndselSolver/PartFrame.h
+++ b/OndselSolver/PartFrame.h
@@ -30,7 +30,7 @@ namespace MbD {
 		//ToDo: part iqX iqE qX qE qXdot qEdot qXddot qEddot aGeu aGabs markerFrames 
 	public:
 		PartFrame();
-		PartFrame(const char* str);
+		PartFrame(const std::string& str);
 		System* root() override;
 		void initialize() override;
 		void initializeLocally() override;
@@ -57,7 +57,7 @@ namespace MbD {
 		void setPart(Part* x);
 		Part* getPart();
 		void addMarkerFrame(std::shared_ptr<MarkerFrame> x);
-		EndFrmsptr endFrame(std::string name);
+		EndFrmsptr endFrame(const std::string& name);
 		void aGabsDo(const std::function <void(std::shared_ptr<Constraint>)>& f);
 		void markerFramesDo(const std::function <void(std::shared_ptr<MarkerFrame>)>& f);
 		void removeRedundantConstraints(std::shared_ptr<std::vector<size_t>> redundantEqnNos) override;
diff --git a/OndselSolver/PerpendicularJoint.cpp b/OndselSolver/PerpendicularJoint.cpp
index a8c30ab..b3eb9f4 100644
--- a/OndselSolver/PerpendicularJoint.cpp
+++ b/OndselSolver/PerpendicularJoint.cpp
@@ -16,7 +16,7 @@ MbD::PerpendicularJoint::PerpendicularJoint()
 {
 }
 
-MbD::PerpendicularJoint::PerpendicularJoint(const char*)
+MbD::PerpendicularJoint::PerpendicularJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/PerpendicularJoint.h b/OndselSolver/PerpendicularJoint.h
index 9783d02..b58bfe3 100644
--- a/OndselSolver/PerpendicularJoint.h
+++ b/OndselSolver/PerpendicularJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		PerpendicularJoint();
-		PerpendicularJoint(const char* str);
+		PerpendicularJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/PlanarJoint.cpp b/OndselSolver/PlanarJoint.cpp
index a79fcfa..85d9de4 100644
--- a/OndselSolver/PlanarJoint.cpp
+++ b/OndselSolver/PlanarJoint.cpp
@@ -16,7 +16,7 @@ MbD::PlanarJoint::PlanarJoint()
 {
 }
 
-MbD::PlanarJoint::PlanarJoint(const char*)
+MbD::PlanarJoint::PlanarJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/PlanarJoint.h b/OndselSolver/PlanarJoint.h
index 2a398ad..e2a7a5f 100644
--- a/OndselSolver/PlanarJoint.h
+++ b/OndselSolver/PlanarJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		PlanarJoint();
-		PlanarJoint(const char* str);
+		PlanarJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/PointInLineJoint.cpp b/OndselSolver/PointInLineJoint.cpp
index 9ecafae..c8dedf8 100644
--- a/OndselSolver/PointInLineJoint.cpp
+++ b/OndselSolver/PointInLineJoint.cpp
@@ -16,7 +16,7 @@ MbD::PointInLineJoint::PointInLineJoint()
 {
 }
 
-MbD::PointInLineJoint::PointInLineJoint(const char* str) : InLineJoint(str)
+MbD::PointInLineJoint::PointInLineJoint(const std::string& str) : InLineJoint(str)
 {
 }
 
diff --git a/OndselSolver/PointInLineJoint.h b/OndselSolver/PointInLineJoint.h
index 76331b4..8de8f5b 100644
--- a/OndselSolver/PointInLineJoint.h
+++ b/OndselSolver/PointInLineJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		PointInLineJoint();
-		PointInLineJoint(const char* str);
+		PointInLineJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/PointInPlaneJoint.cpp b/OndselSolver/PointInPlaneJoint.cpp
index 992db5a..81009d5 100644
--- a/OndselSolver/PointInPlaneJoint.cpp
+++ b/OndselSolver/PointInPlaneJoint.cpp
@@ -15,7 +15,7 @@ MbD::PointInPlaneJoint::PointInPlaneJoint()
 {
 }
 
-MbD::PointInPlaneJoint::PointInPlaneJoint(const char*)
+MbD::PointInPlaneJoint::PointInPlaneJoint(const std::string&)
 {
 }
 
diff --git a/OndselSolver/PointInPlaneJoint.h b/OndselSolver/PointInPlaneJoint.h
index 07925b2..0a06e02 100644
--- a/OndselSolver/PointInPlaneJoint.h
+++ b/OndselSolver/PointInPlaneJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		PointInPlaneJoint();
-		PointInPlaneJoint(const char* str);
+		PointInPlaneJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/PosICKineNewtonRaphson.cpp b/OndselSolver/PosICKineNewtonRaphson.cpp
index c7c8569..33097bc 100644
--- a/OndselSolver/PosICKineNewtonRaphson.cpp
+++ b/OndselSolver/PosICKineNewtonRaphson.cpp
@@ -22,6 +22,6 @@ void PosICKineNewtonRaphson::initializeGlobally()
 
 void MbD::PosICKineNewtonRaphson::preRun()
 {
-	system->Solver::logString("MbD: Solving for quasi kinematic position.");
+	system->logString("MbD: Solving for quasi kinematic position.");
 	PosNewtonRaphson::preRun();
 }
diff --git a/OndselSolver/PrescribedMotion.cpp b/OndselSolver/PrescribedMotion.cpp
index 8c0c122..2bf43f1 100644
--- a/OndselSolver/PrescribedMotion.cpp
+++ b/OndselSolver/PrescribedMotion.cpp
@@ -21,7 +21,7 @@ PrescribedMotion::PrescribedMotion() {
 
 }
 
-PrescribedMotion::PrescribedMotion(const char* str) : Joint(str) {
+PrescribedMotion::PrescribedMotion(const std::string& str) : Joint(str) {
 
 }
 
diff --git a/OndselSolver/PrescribedMotion.h b/OndselSolver/PrescribedMotion.h
index bc0c828..a4f083f 100644
--- a/OndselSolver/PrescribedMotion.h
+++ b/OndselSolver/PrescribedMotion.h
@@ -21,7 +21,7 @@ namespace MbD {
         //xBlk yBlk zBlk phiBlk theBlk psiBlk 
     public:
         PrescribedMotion();
-        PrescribedMotion(const char* str);
+        PrescribedMotion(const std::string& str);
 
         void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
         void initialize() override;
diff --git a/OndselSolver/QuasiIntegrator.cpp b/OndselSolver/QuasiIntegrator.cpp
index cd63811..9b8d7c0 100644
--- a/OndselSolver/QuasiIntegrator.cpp
+++ b/OndselSolver/QuasiIntegrator.cpp
@@ -152,7 +152,7 @@ double QuasiIntegrator::suggestSmallerOrAcceptStepSize(double hnew)
 	system->partsJointsMotionsLimitsForcesTorquesDo([&](std::shared_ptr<Item> item) { hnew2 = item->suggestSmallerOrAcceptDynStepSize(hnew2); });
 	if (hnew2 > hmax) {
 		hnew2 = hmax;
-		this->Solver::logString("StM: Step size is at user specified maximum.");
+		this->logString("StM: Step size is at user specified maximum.");
 	}
 	if (hnew2 < hmin) {
 		std::stringstream ss;
@@ -170,7 +170,7 @@ void QuasiIntegrator::incrementTime(double tnew)
 	IntegratorInterface::incrementTime(tnew);
 }
 
-void QuasiIntegrator::throwDiscontinuityError(const char* chars, std::shared_ptr<std::vector<DiscontinuityType>> discontinuityTypes)
+void QuasiIntegrator::throwDiscontinuityError(const std::string& chars, std::shared_ptr<std::vector<DiscontinuityType>> discontinuityTypes)
 {
 	throw DiscontinuityError(chars, discontinuityTypes);
 }
diff --git a/OndselSolver/QuasiIntegrator.h b/OndselSolver/QuasiIntegrator.h
index 12a1830..17a51c4 100644
--- a/OndselSolver/QuasiIntegrator.h
+++ b/OndselSolver/QuasiIntegrator.h
@@ -28,7 +28,7 @@ namespace MbD {
         double suggestSmallerOrAcceptFirstStepSize(double hnew) override;
         double suggestSmallerOrAcceptStepSize(double hnew) override;
         void incrementTime(double tnew) override;
-        void throwDiscontinuityError(const char* chars, std::shared_ptr<std::vector<DiscontinuityType>> discontinuityTypes);
+        void throwDiscontinuityError(const std::string& chars, std::shared_ptr<std::vector<DiscontinuityType>> discontinuityTypes);
         void checkForOutputThrough(double t) override;
         void interpolateAt(double t) override;
         void postStep() override;
diff --git a/OndselSolver/RackPinJoint.cpp b/OndselSolver/RackPinJoint.cpp
index f196527..a596ce5 100644
--- a/OndselSolver/RackPinJoint.cpp
+++ b/OndselSolver/RackPinJoint.cpp
@@ -17,7 +17,7 @@ MbD::RackPinJoint::RackPinJoint()
 {
 }
 
-MbD::RackPinJoint::RackPinJoint(const char* str) : Joint(str)
+MbD::RackPinJoint::RackPinJoint(const std::string& str) : Joint(str)
 {
 }
 //
diff --git a/OndselSolver/RackPinJoint.h b/OndselSolver/RackPinJoint.h
index 21fdbe4..ac657ef 100644
--- a/OndselSolver/RackPinJoint.h
+++ b/OndselSolver/RackPinJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//pitchRadius aConstant 
 	public:
 		RackPinJoint();
-		RackPinJoint(const char* str);
+		RackPinJoint(const std::string& str);
 		//void initializeLocally() override;
 		void initializeGlobally() override;
 		void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
diff --git a/OndselSolver/RevCylJoint.cpp b/OndselSolver/RevCylJoint.cpp
index 2ed1f2b..01eb3e5 100644
--- a/OndselSolver/RevCylJoint.cpp
+++ b/OndselSolver/RevCylJoint.cpp
@@ -17,7 +17,7 @@ MbD::RevCylJoint::RevCylJoint()
 {
 }
 
-MbD::RevCylJoint::RevCylJoint(const char* str) : CompoundJoint(str)
+MbD::RevCylJoint::RevCylJoint(const std::string& str) : CompoundJoint(str)
 {
 }
 
diff --git a/OndselSolver/RevCylJoint.h b/OndselSolver/RevCylJoint.h
index 384e358..3963b91 100644
--- a/OndselSolver/RevCylJoint.h
+++ b/OndselSolver/RevCylJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		RevCylJoint();
-		RevCylJoint(const char* str);
+		RevCylJoint(const std::string& str);
 		void initializeGlobally() override;
 	
 
diff --git a/OndselSolver/RevRevJoint.cpp b/OndselSolver/RevRevJoint.cpp
index 362e0e8..53c5b68 100644
--- a/OndselSolver/RevRevJoint.cpp
+++ b/OndselSolver/RevRevJoint.cpp
@@ -17,7 +17,7 @@ MbD::RevRevJoint::RevRevJoint()
 {
 }
 
-MbD::RevRevJoint::RevRevJoint(const char* str) : CompoundJoint(str)
+MbD::RevRevJoint::RevRevJoint(const std::string& str) : CompoundJoint(str)
 {
 }
 
diff --git a/OndselSolver/RevRevJoint.h b/OndselSolver/RevRevJoint.h
index 6a024dc..b5bf71e 100644
--- a/OndselSolver/RevRevJoint.h
+++ b/OndselSolver/RevRevJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		RevRevJoint();
-		RevRevJoint(const char* str);
+		RevRevJoint(const std::string& str);
 		void initializeGlobally() override;
 
 
diff --git a/OndselSolver/RevoluteJoint.cpp b/OndselSolver/RevoluteJoint.cpp
index 06a058b..190737e 100644
--- a/OndselSolver/RevoluteJoint.cpp
+++ b/OndselSolver/RevoluteJoint.cpp
@@ -18,7 +18,7 @@ RevoluteJoint::RevoluteJoint()
 {
 }
 
-RevoluteJoint::RevoluteJoint(const char* str) : AtPointJoint(str)
+RevoluteJoint::RevoluteJoint(const std::string& str) : AtPointJoint(str)
 {
 }
 
diff --git a/OndselSolver/RevoluteJoint.h b/OndselSolver/RevoluteJoint.h
index f3895f3..410a33e 100644
--- a/OndselSolver/RevoluteJoint.h
+++ b/OndselSolver/RevoluteJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //
     public:
         RevoluteJoint();
-        RevoluteJoint(const char* str);
+        RevoluteJoint(const std::string& str);
         void initializeGlobally() override;
     };
 }
diff --git a/OndselSolver/ScrewJoint.cpp b/OndselSolver/ScrewJoint.cpp
index 5b22b5d..18f1136 100644
--- a/OndselSolver/ScrewJoint.cpp
+++ b/OndselSolver/ScrewJoint.cpp
@@ -17,7 +17,7 @@ MbD::ScrewJoint::ScrewJoint()
 {
 }
 
-MbD::ScrewJoint::ScrewJoint(const char* str) : Joint(str)
+MbD::ScrewJoint::ScrewJoint(const std::string& str) : Joint(str)
 {
 }
 //
diff --git a/OndselSolver/ScrewJoint.h b/OndselSolver/ScrewJoint.h
index 17ee8c1..960b4fd 100644
--- a/OndselSolver/ScrewJoint.h
+++ b/OndselSolver/ScrewJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		ScrewJoint();
-		ScrewJoint(const char* str);
+		ScrewJoint(const std::string& str);
 		//void initializeLocally() override;
 		void initializeGlobally() override;
 		void connectsItoJ(EndFrmsptr frmI, EndFrmsptr frmJ) override;
diff --git a/OndselSolver/Solver.cpp b/OndselSolver/Solver.cpp
index e66aa7d..9c9e5de 100644
--- a/OndselSolver/Solver.cpp
+++ b/OndselSolver/Solver.cpp
@@ -59,17 +59,11 @@ void Solver::postRun()
 	assert(false);
 }
 
-void Solver::logString(std::string&)
+void Solver::logString(const std::string&)
 {
 	assert(false);
 }
 
-void Solver::logString(const char* chars)
-{
-	std::string str = chars;
-	this->logString(str);
-}
-
 void MbD::Solver::handleSingularMatrix()
 {
 	assert(false);
diff --git a/OndselSolver/Solver.h b/OndselSolver/Solver.h
index 4f679f7..126b46f 100644
--- a/OndselSolver/Solver.h
+++ b/OndselSolver/Solver.h
@@ -27,8 +27,7 @@ namespace MbD {
 		virtual void finalize();
 		virtual void reportStats();
 		virtual void postRun();
-		virtual void logString(std::string& str);
-		void logString(const char* chars);
+		virtual void logString(const std::string& str);
 		virtual void setSystem(Solver* sys) = 0;
 		virtual void handleSingularMatrix();
 
diff --git a/OndselSolver/SparseMatrix.h b/OndselSolver/SparseMatrix.h
index d385104..d8ee513 100644
--- a/OndselSolver/SparseMatrix.h
+++ b/OndselSolver/SparseMatrix.h
@@ -18,9 +18,10 @@
 namespace MbD {
 	template<typename T>
 	class SparseMatrix;
+	using SpMatDsptr = std::shared_ptr<SparseMatrix<double>>;
 	template<typename T>
 	using SpMatsptr = std::shared_ptr<SparseMatrix<T>>;
-	using SpMatDsptr = std::shared_ptr<SparseMatrix<double>>;
+	class GESpMatParPvPrecise;
 
 	template<typename T>
 	class SparseMatrix : public RowTypeMatrix<SpRowsptr<T>>
diff --git a/OndselSolver/SphSphJoint.cpp b/OndselSolver/SphSphJoint.cpp
index e4d32f7..520a972 100644
--- a/OndselSolver/SphSphJoint.cpp
+++ b/OndselSolver/SphSphJoint.cpp
@@ -17,7 +17,7 @@ MbD::SphSphJoint::SphSphJoint()
 {
 }
 
-MbD::SphSphJoint::SphSphJoint(const char* str) : CompoundJoint(str)
+MbD::SphSphJoint::SphSphJoint(const std::string& str) : CompoundJoint(str)
 {
 }
 
diff --git a/OndselSolver/SphSphJoint.h b/OndselSolver/SphSphJoint.h
index 608fcd4..108e7fd 100644
--- a/OndselSolver/SphSphJoint.h
+++ b/OndselSolver/SphSphJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		SphSphJoint();
-		SphSphJoint(const char* str);
+		SphSphJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/SphericalJoint.cpp b/OndselSolver/SphericalJoint.cpp
index e15bca9..c1d4544 100644
--- a/OndselSolver/SphericalJoint.cpp
+++ b/OndselSolver/SphericalJoint.cpp
@@ -16,7 +16,7 @@ MbD::SphericalJoint::SphericalJoint()
 {
 }
 
-MbD::SphericalJoint::SphericalJoint(const char* str) : AtPointJoint(str)
+MbD::SphericalJoint::SphericalJoint(const std::string& str) : AtPointJoint(str)
 {
 }
 
diff --git a/OndselSolver/SphericalJoint.h b/OndselSolver/SphericalJoint.h
index 44b597c..6209599 100644
--- a/OndselSolver/SphericalJoint.h
+++ b/OndselSolver/SphericalJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		SphericalJoint();
-		SphericalJoint(const char* str);
+		SphericalJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/Sum.cpp b/OndselSolver/Sum.cpp
index 85520a2..d6b320e 100644
--- a/OndselSolver/Sum.cpp
+++ b/OndselSolver/Sum.cpp
@@ -16,7 +16,7 @@
 
 using namespace MbD;
 
-Symsptr MbD::Sum::parseExpression(std::string& expression)
+Symsptr MbD::Sum::parseExpression(const std::string& expression)
 {
 	std::istringstream iss(expression);
 	auto sum = std::make_shared<Sum>();
diff --git a/OndselSolver/Sum.h b/OndselSolver/Sum.h
index 49b168e..893741c 100644
--- a/OndselSolver/Sum.h
+++ b/OndselSolver/Sum.h
@@ -14,7 +14,7 @@ namespace MbD {
     class Sum : public FunctionWithManyArgs
     {
     public:
-        static Symsptr parseExpression(std::string& expression);
+        static Symsptr parseExpression(const std::string& expression);
         void parse(std::istringstream& iss);
         void parseTerm(std::istringstream& iss);
         void parsePlusTerm(std::istringstream& iss);
diff --git a/OndselSolver/Time.h b/OndselSolver/SymTime.h
similarity index 100%
rename from OndselSolver/Time.h
rename to OndselSolver/SymTime.h
diff --git a/OndselSolver/SymbolicParser.cpp b/OndselSolver/SymbolicParser.cpp
index 0aacf4a..63fb2b5 100644
--- a/OndselSolver/SymbolicParser.cpp
+++ b/OndselSolver/SymbolicParser.cpp
@@ -57,7 +57,7 @@ void MbD::SymbolicParser::parseUserFunction(Symsptr userFunc)
 	stack->push(Symbolic::times(func, std::make_shared<Constant>(usrFunc->myUnit)));
 }
 
-void MbD::SymbolicParser::parseString(std::string expr)
+void MbD::SymbolicParser::parseString(const std::string& expr)
 {
 	buffer->clear();
 	while (!stack->empty()) {
@@ -179,7 +179,7 @@ bool MbD::SymbolicParser::divideByFunction()
 	return false;
 }
 
-bool MbD::SymbolicParser::peekForTypeNoPush(std::string c)
+bool MbD::SymbolicParser::peekForTypeNoPush(const std::string& c)
 {
 	//"Test to see if tokenType matches aType. If so, advance to the next token, leaving the stack unchanged"
 
@@ -440,7 +440,7 @@ bool MbD::SymbolicParser::raisedTo()
 	return false;
 }
 
-bool MbD::SymbolicParser::expected(std::string)
+bool MbD::SymbolicParser::expected(const std::string&)
 {
 	return false;
 }
@@ -472,7 +472,7 @@ bool MbD::SymbolicParser::signedNumber()
 	return false;
 }
 
-bool MbD::SymbolicParser::peekForTypevalue(std::string type, std::string symbol)
+bool MbD::SymbolicParser::peekForTypevalue(const std::string& type, std::string symbol)
 {
 	if ((tokenType == type) && (token == symbol)) {
 		scanToken();
@@ -481,12 +481,12 @@ bool MbD::SymbolicParser::peekForTypevalue(std::string type, std::string symbol)
 	return false;
 }
 
-void MbD::SymbolicParser::notify(std::string msg) const
+void MbD::SymbolicParser::notify(const std::string& msg) const
 {
 	notifyat(msg, mark);
 }
 
-void MbD::SymbolicParser::notifyat(std::string, int) const
+void MbD::SymbolicParser::notifyat(const std::string&, int) const
 {
 	//"Temporarily reset source in order to get full contents"
 	auto p = source->tellg();
diff --git a/OndselSolver/SymbolicParser.h b/OndselSolver/SymbolicParser.h
index a38c29b..ef6a0d1 100644
--- a/OndselSolver/SymbolicParser.h
+++ b/OndselSolver/SymbolicParser.h
@@ -24,7 +24,7 @@ namespace MbD {
 		SymbolicParser();
 		void initialize();
 		void parseUserFunction(Symsptr userFunc);
-		void parseString(std::string expr);
+		void parseString(const std::string& expr);
 		bool commaExpression();
 		bool plusTerm();
 		bool minusTerm();
@@ -33,7 +33,7 @@ namespace MbD {
 		bool plainFunction();
 		bool timesFunction();
 		bool divideByFunction();
-		bool peekForTypeNoPush(std::string c);
+		bool peekForTypeNoPush(const std::string& c);
 		std::string scanToken();
 		void xLetter();
 		void xDigit();
@@ -46,11 +46,11 @@ namespace MbD {
 		bool intrinsic();
 		bool variable();
 		bool raisedTo();
-		bool expected(std::string msg);
+		bool expected(const std::string& msg);
 		bool signedNumber();
-		bool peekForTypevalue(std::string type, std::string symbol);
-		void notify(std::string msg) const;
-		void notifyat(std::string msg, int mrk) const;
+		bool peekForTypevalue(const std::string& type, std::string symbol);
+		void notify(const std::string& msg) const;
+		void notifyat(const std::string& msg, int mrk) const;
 		void combineStackTo(size_t pos) const;
 		bool isNextLineTag(char c) const;
 
diff --git a/OndselSolver/System.cpp b/OndselSolver/System.cpp
index b88dc63..315fd60 100644
--- a/OndselSolver/System.cpp
+++ b/OndselSolver/System.cpp
@@ -13,7 +13,7 @@
 #include "Joint.h"
 #include "ForceTorqueItem.h"
 #include "SystemSolver.h"
-#include "Time.h"
+#include "SymTime.h"
 #include "CREATE.h"
 #include "ExternalSystem.h"
 #include "PrescribedMotion.h"
@@ -30,7 +30,7 @@ System::System() {
 	systemSolver = std::make_shared<SystemSolver>(this);
 }
 
-System::System(const char* str) : Item(str) {
+System::System(const std::string& str) : Item(str) {
 }
 
 System* MbD::System::root()
@@ -171,7 +171,7 @@ void MbD::System::partsJointsMotionsLimitsForcesTorquesDo(const std::function<vo
 	std::for_each(forcesTorques->begin(), forcesTorques->end(), f);
 }
 
-void System::logString(std::string& str)
+void System::logString(const std::string& str)
 {
 	externalSystem->logString(str);
 }
diff --git a/OndselSolver/System.h b/OndselSolver/System.h
index 19aa1a2..a68f651 100644
--- a/OndselSolver/System.h
+++ b/OndselSolver/System.h
@@ -38,7 +38,7 @@ namespace MbD {
 		//ToDo: Needed members admSystem namedItems mbdTime parts jointsMotions forcesTorques sensors variables hasChanged mbdSystemSolver
 	public:
 		System();
-		System(const char* str);
+		System(const std::string& str);
 		System* root() override;
 		void initialize() override;
 		void initializeLocally() override;
@@ -53,7 +53,7 @@ namespace MbD {
 		void partsJointsMotionsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
 		void partsJointsMotionsLimitsForcesTorquesDo(const std::function <void(std::shared_ptr<Item>)>& f);
 		void partsJointsMotionsLimitsDo(const std::function <void(std::shared_ptr<Item>)>& f);
-		void logString(std::string& str) override;
+		void logString(const std::string& str) override;
 		double mbdTimeValue();
 		void mbdTimeValue(double t);
 		std::shared_ptr<std::vector<std::shared_ptr<Constraint>>> essentialConstraints();
diff --git a/OndselSolver/SystemNewtonRaphson.cpp b/OndselSolver/SystemNewtonRaphson.cpp
index 3ad1fc5..364c247 100644
--- a/OndselSolver/SystemNewtonRaphson.cpp
+++ b/OndselSolver/SystemNewtonRaphson.cpp
@@ -86,7 +86,7 @@ void SystemNewtonRaphson::handleSingularMatrix()
 
 void MbD::SystemNewtonRaphson::outputSpreadsheet()
 {
-	std::ofstream os("../testapp/spreadsheetcpp.csv");
+	std::ofstream os("../../testapp/spreadsheetcpp.csv");
 	os << std::setprecision(std::numeric_limits<double>::max_digits10);
 	for (size_t i = 0; i < pypx->nrow(); i++)
 	{
diff --git a/OndselSolver/SystemSolver.cpp b/OndselSolver/SystemSolver.cpp
index a64897e..c5b0e01 100644
--- a/OndselSolver/SystemSolver.cpp
+++ b/OndselSolver/SystemSolver.cpp
@@ -255,7 +255,7 @@ void SystemSolver::partsJointsMotionsDo(const std::function<void(std::shared_ptr
 	system->partsJointsMotionsDo(f);
 }
 
-void SystemSolver::logString(std::string& str)
+void SystemSolver::logString(const std::string& str)
 {
 	system->logString(str);
 }
diff --git a/OndselSolver/SystemSolver.h b/OndselSolver/SystemSolver.h
index e409290..74988d3 100644
--- a/OndselSolver/SystemSolver.h
+++ b/OndselSolver/SystemSolver.h
@@ -60,7 +60,7 @@ namespace MbD {
 		void runPosICKine();
 		void runVelICKine();
 		void runAccICKine();
-		void logString(std::string& str) override;
+		void logString(const std::string& str) override;
 		std::shared_ptr<std::vector<std::shared_ptr<Part>>> parts();
 		std::shared_ptr<std::vector<std::shared_ptr<LimitIJ>>> limits();
 		//std::shared_ptr<std::vector<ContactEndFrame>> contactEndFrames();
diff --git a/OndselSolver/Time.cpp b/OndselSolver/Time.cpp
index fac3ea5..6dae9b0 100644
--- a/OndselSolver/Time.cpp
+++ b/OndselSolver/Time.cpp
@@ -6,7 +6,7 @@
  *   See LICENSE file for details about copyright.                         *
  ***************************************************************************/
  
-#include "Time.h"
+#include "SymTime.h"
 
 using namespace MbD;
 
diff --git a/OndselSolver/Translation.cpp b/OndselSolver/Translation.cpp
index ff58ceb..d4f01f1 100644
--- a/OndselSolver/Translation.cpp
+++ b/OndselSolver/Translation.cpp
@@ -16,7 +16,7 @@ MbD::Translation::Translation()
 {
 }
 
-MbD::Translation::Translation(const char*)
+MbD::Translation::Translation(const std::string&)
 {
 }
 
diff --git a/OndselSolver/Translation.h b/OndselSolver/Translation.h
index 6ea87f6..c7bd9ad 100644
--- a/OndselSolver/Translation.h
+++ b/OndselSolver/Translation.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		Translation();
-		Translation(const char* str);
+		Translation(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/TranslationalJoint.cpp b/OndselSolver/TranslationalJoint.cpp
index ee9832c..ddfa3e8 100644
--- a/OndselSolver/TranslationalJoint.cpp
+++ b/OndselSolver/TranslationalJoint.cpp
@@ -18,7 +18,7 @@ MbD::TranslationalJoint::TranslationalJoint()
 {
 }
 
-MbD::TranslationalJoint::TranslationalJoint(const char* str) : InLineJoint(str)
+MbD::TranslationalJoint::TranslationalJoint(const std::string& str) : InLineJoint(str)
 {
 }
 
diff --git a/OndselSolver/TranslationalJoint.h b/OndselSolver/TranslationalJoint.h
index e772bec..bdccab7 100644
--- a/OndselSolver/TranslationalJoint.h
+++ b/OndselSolver/TranslationalJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
         //
     public:
         TranslationalJoint();
-        TranslationalJoint(const char* str);
+        TranslationalJoint(const std::string& str);
         void initializeGlobally() override;
 
     };
diff --git a/OndselSolver/UniversalJoint.cpp b/OndselSolver/UniversalJoint.cpp
index d10324c..775b868 100644
--- a/OndselSolver/UniversalJoint.cpp
+++ b/OndselSolver/UniversalJoint.cpp
@@ -16,7 +16,7 @@ MbD::UniversalJoint::UniversalJoint()
 {
 }
 
-MbD::UniversalJoint::UniversalJoint(const char* str) : AtPointJoint(str)
+MbD::UniversalJoint::UniversalJoint(const std::string& str) : AtPointJoint(str)
 {
 }
 
diff --git a/OndselSolver/UniversalJoint.h b/OndselSolver/UniversalJoint.h
index 62d2a66..4f756af 100644
--- a/OndselSolver/UniversalJoint.h
+++ b/OndselSolver/UniversalJoint.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		UniversalJoint();
-		UniversalJoint(const char* str);
+		UniversalJoint(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolver/Variable.cpp b/OndselSolver/Variable.cpp
index b3f8afc..d0e6d5c 100644
--- a/OndselSolver/Variable.cpp
+++ b/OndselSolver/Variable.cpp
@@ -15,7 +15,7 @@ Variable::Variable()
 	value = 0.0;
 }
 
-Variable::Variable(const char* str) : name(str) 
+Variable::Variable(const std::string& str) : name(str) 
 {
 	value = 0.0;
 }
@@ -28,7 +28,7 @@ void Variable::initialize()
 {
 }
 
-void Variable::setName(std::string str)
+void Variable::setName(const std::string& str)
 {
 	name = str;
 }
diff --git a/OndselSolver/Variable.h b/OndselSolver/Variable.h
index a5b8851..f2c519f 100644
--- a/OndselSolver/Variable.h
+++ b/OndselSolver/Variable.h
@@ -17,10 +17,10 @@ namespace MbD {
         //name value 
 	public:
 		Variable();
-		Variable(const char* str);
+		Variable(const std::string& str);
 		Variable(double val);
 		void initialize() override;
-		void setName(std::string str);
+		void setName(const std::string& str);
 		const std::string& getName() const;
 		double getValue() override;
 		std::ostream& printOn(std::ostream& s) const override;
diff --git a/OndselSolver/VelKineSolver.cpp b/OndselSolver/VelKineSolver.cpp
index 9ff021e..922bb75 100644
--- a/OndselSolver/VelKineSolver.cpp
+++ b/OndselSolver/VelKineSolver.cpp
@@ -49,7 +49,7 @@ void VelKineSolver::assignEquationNumbers()
 
 void VelKineSolver::run()
 {
-	system->Solver::logString("MbD: Solving for kinematic velocity.");
+	system->logString("MbD: Solving for kinematic velocity.");
 	system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->preVelIC(); });
 	this->assignEquationNumbers();
 	system->partsJointsMotionsLimitsDo([](std::shared_ptr<Item> item) { item->useEquationNumbers(); });
diff --git a/OndselSolver/ZRotation.cpp b/OndselSolver/ZRotation.cpp
index a45652d..3d4cdd7 100644
--- a/OndselSolver/ZRotation.cpp
+++ b/OndselSolver/ZRotation.cpp
@@ -20,7 +20,7 @@ ZRotation::ZRotation() {
 
 }
 
-ZRotation::ZRotation(const char* str) : PrescribedMotion(str) {
+ZRotation::ZRotation(const std::string& str) : PrescribedMotion(str) {
 
 }
 
diff --git a/OndselSolver/ZRotation.h b/OndselSolver/ZRotation.h
index 64f23c2..6a746f6 100644
--- a/OndselSolver/ZRotation.h
+++ b/OndselSolver/ZRotation.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		ZRotation();
-		ZRotation(const char* str);
+		ZRotation(const std::string& str);
 		void initializeGlobally() override;
 	};
 }
diff --git a/OndselSolver/ZTranslation.cpp b/OndselSolver/ZTranslation.cpp
index 7686a17..f3efae1 100644
--- a/OndselSolver/ZTranslation.cpp
+++ b/OndselSolver/ZTranslation.cpp
@@ -16,7 +16,7 @@ MbD::ZTranslation::ZTranslation()
 {
 }
 
-MbD::ZTranslation::ZTranslation(const char*)
+MbD::ZTranslation::ZTranslation(const std::string&)
 {
 }
 
diff --git a/OndselSolver/ZTranslation.h b/OndselSolver/ZTranslation.h
index 8f2a211..cd83af3 100644
--- a/OndselSolver/ZTranslation.h
+++ b/OndselSolver/ZTranslation.h
@@ -16,7 +16,7 @@ namespace MbD {
 		//
 	public:
 		ZTranslation();
-		ZTranslation(const char* str);
+		ZTranslation(const std::string& str);
 		void initializeGlobally() override;
 
 	};
diff --git a/OndselSolverMain/CMakeLists.txt b/OndselSolverMain/CMakeLists.txt
new file mode 100644
index 0000000..b8b619a
--- /dev/null
+++ b/OndselSolverMain/CMakeLists.txt
@@ -0,0 +1,9 @@
+set(ONDSELSOLVER_MAIN_SRC
+	OndselSolver.cpp
+)
+set(ONDSELSOLVER_MAIN_HEADERS
+	OndselSolver.h
+)
+
+add_executable(OndselSolverMain ${ONDSELSOLVER_MAIN_SRC} ${ONDSELSOLVER_MAIN_HEADERS})
+target_link_libraries(OndselSolverMain OndselSolver)
diff --git a/testapp/OndselSolver.cpp b/OndselSolverMain/OndselSolver.cpp
similarity index 58%
rename from testapp/OndselSolver.cpp
rename to OndselSolverMain/OndselSolver.cpp
index f7cf5d9..d4b82d9 100644
--- a/testapp/OndselSolver.cpp
+++ b/OndselSolverMain/OndselSolver.cpp
@@ -20,7 +20,6 @@
 #include "../OndselSolver/MomentOfInertiaSolver.h"
 
 using namespace MbD;
-void runSpMat();
 void sharedptrTest();
 
 int main()
@@ -30,44 +29,43 @@ int main()
 	//auto assembly = ASMTAssembly::assemblyFromFile("C:/Users/askoh/OneDrive/askoh/visualstudio/Ondsel/OndselFreeCAD/build/src/Main/runPreDrag.asmt");
 	//assembly->runDraggingLog("C:/Users/askoh/OneDrive/askoh/visualstudio/Ondsel/OndselFreeCAD/build/src/Main/dragging.log");
 	//return 0;
-	auto assembly = ASMTAssembly::assemblyFromFile("../testapp/runPreDragBackhoe3.asmt");
-	assembly->runDraggingLog("../testapp/draggingBackhoe3.log");
-	return 0;
+	auto assembly = ASMTAssembly::assemblyFromFile(std::string(TEST_DATA_PATH) + "/runPreDragBackhoe3.asmt");
+	assembly->runDraggingLog(std::string(TEST_DATA_PATH) + "/draggingBackhoe3.log");
+	//return 0;
 	ASMTAssembly::runDraggingLogTest3();
 	ASMTAssembly::runDraggingLogTest2();
 	ASMTAssembly::runDraggingLogTest();
-	ASMTAssembly::runFile("../testapp/pistonAllowZRotation.asmt");
-	ASMTAssembly::runFile("../testapp/Schmidt_Coupling_Ass_1-1.asmt");
-	ASMTAssembly::runFile("../testapp/RevRevJt.asmt");
-	ASMTAssembly::runFile("../testapp/RevCylJt.asmt");
-	ASMTAssembly::runFile("../testapp/CylSphJt.asmt");
-	ASMTAssembly::runFile("../testapp/SphSphJt.asmt");
-	ASMTAssembly::readWriteFile("../testapp/Gears.asmt");
-	ASMTAssembly::readWriteFile("../testapp/anglejoint.asmt");
-	ASMTAssembly::readWriteFile("../testapp/constvel.asmt");
-	ASMTAssembly::readWriteFile("../testapp/rackscrew.asmt");
-	ASMTAssembly::readWriteFile("../testapp/planarbug.asmt");
-	ASMTAssembly::runFile("../testapp/cirpendu2.asmt");	//Under constrained. Testing ICKine.
-	ASMTAssembly::runFile("../testapp/quasikine.asmt");	//Under constrained. Testing ICKine.
-	ASMTAssembly::readWriteFile("../testapp/piston.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/pistonAllowZRotation.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/Schmidt_Coupling_Ass_1-1.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevRevJt.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevCylJt.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/CylSphJt.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/SphSphJt.asmt");
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/Gears.asmt");
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/anglejoint.asmt");
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/constvel.asmt");
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/rackscrew.asmt");
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/planarbug.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/cirpendu2.asmt");	//Under constrained. Testing ICKine.
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/quasikine.asmt");	//Under constrained. Testing ICKine.
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
 	////ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
 	////ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
 	ASMTAssembly::runSinglePendulumSimplified();
 	ASMTAssembly::runSinglePendulum();
-	ASMTAssembly::runFile("../testapp/piston.asmt");
-	ASMTAssembly::runFile("../testapp/00backhoe.asmt");
-	//ASMTAssembly::runFile("../testapp/circular.asmt");	//Needs checking
-	//ASMTAssembly::runFile("../testapp/engine1.asmt");	//Needs checking
-	ASMTAssembly::runFile("../testapp/fourbar.asmt");
-	//ASMTAssembly::runFile("../testapp/fourbot.asmt");	//Very large but works
-	ASMTAssembly::runFile("../testapp/wobpump.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/00backhoe.asmt");
+	//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/circular.asmt");	//Needs checking
+	//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/engine1.asmt");	//Needs checking
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbar.asmt");
+	//ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbot.asmt");	//Very large but works
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/wobpump.asmt");
 
 	auto cadSystem = std::make_shared<CADSystem>();
 	cadSystem->runOndselSinglePendulum();
 	cadSystem->runOndselDoublePendulum();
 	//cadSystem->runOndselPiston();		//For debugging
 	cadSystem->runPiston();
-	runSpMat();
 	MomentOfInertiaSolver::example1();
 	sharedptrTest();
 }
@@ -88,20 +86,3 @@ void sharedptrTest() {
 	assert(assm->constantGravity == assm2->constantGravity);	//constantGravity is same object pointed to
 	assert(&(assm->constantGravity) != &(assm2->constantGravity)); //Different shared_ptrs of same reference counter
 }
-void runSpMat() {
-	auto spMat = std::make_shared<SparseMatrix<double>>(3, 3);
-	spMat->atijput(0, 0, 1.0);
-	spMat->atijput(0, 1, 1.0);
-	spMat->atijput(1, 0, 1.0);
-	spMat->atijput(1, 1, 1.0);
-	spMat->atijput(1, 2, 1.0);
-	spMat->atijput(2, 1, 1.0);
-	spMat->atijput(2, 2, 1.0);
-	auto fullCol = std::make_shared<FullColumn<double>>(3);
-	fullCol->atiput(0, 1.0);
-	fullCol->atiput(1, 2.0);
-	fullCol->atiput(2, 3.0);
-	auto matSolver = CREATE<GESpMatParPvPrecise>::With();
-	auto answer = matSolver->solvewithsaveOriginal(spMat, fullCol, true);
-	auto aAx = spMat->timesFullColumn(answer);
-}
diff --git a/testapp/OndselSolver.h b/OndselSolverMain/OndselSolver.h
similarity index 100%
rename from testapp/OndselSolver.h
rename to OndselSolverMain/OndselSolver.h
diff --git a/testapp/draggingBackhoe.log b/testapp/draggingBackhoe1.log
similarity index 100%
rename from testapp/draggingBackhoe.log
rename to testapp/draggingBackhoe1.log
diff --git a/testapp/runPreDragBackhoe.asmt b/testapp/runPreDragBackhoe1.asmt
similarity index 100%
rename from testapp/runPreDragBackhoe.asmt
rename to testapp/runPreDragBackhoe1.asmt
diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
new file mode 100644
index 0000000..7ca7034
--- /dev/null
+++ b/tests/CMakeLists.txt
@@ -0,0 +1,67 @@
+include(FetchContent)
+FetchContent_Declare(
+  googletest
+  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+)
+# For Windows: Prevent overriding the parent project's compiler/linker settings
+set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+FetchContent_MakeAvailable(googletest)
+
+if(MSVC)
+    add_compile_options(/wd4251)
+
+    option(
+        gtest_force_shared_crt
+        "Use shared (DLL) run-time lib even when Google Test is built as static lib."
+        ON)
+    option(gtest_disable_pthreads "Disable uses of pthreads in gtest." ON)
+
+    set(Google_Tests_LIBS
+        oldnames.lib
+        debug msvcrtd.lib
+        debug msvcprtd.lib
+        optimized msvcrt.lib
+        optimized msvcprt.lib
+    )
+
+    # Universal C runtime introduced in VS 2015 (cl version 19)
+    if(NOT(CMAKE_CXX_COMPILER_VERSION VERSION_LESS "19"))
+        list(APPEND Google_Tests_LIBS
+            debug vcruntimed.lib
+            debug ucrtd.lib
+            debug concrtd.lib
+            optimized vcruntime.lib
+            optimized ucrt.lib
+            optimized concrt.lib
+        )
+    endif()
+endif()
+
+if(WIN32)
+    add_definitions(-D_USE_MATH_DEFINES)
+endif(WIN32)
+
+
+# Add test executables here
+add_executable(test_run)
+target_include_directories(
+	test_run PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}
+    ${CMAKE_CURRENT_SOURCE_DIR}/../OndselSolver
+)
+target_sources(test_run
+	PRIVATE
+		${CMAKE_CURRENT_SOURCE_DIR}/test.cpp
+)
+target_link_libraries(test_run
+    gtest_main
+    gmock_main
+    ${Google_Tests_LIBS}
+    OndselSolver
+)
+
+include(GoogleTest)
+# discovers tests by asking the compiled test executable to enumerate its tests
+set(CMAKE_GTEST_DISCOVER_TESTS_DISCOVERY_MODE PRE_TEST)
+
+gtest_discover_tests(test_run)
diff --git a/tests/packages.config b/tests/packages.config
new file mode 100644
index 0000000..be1fa03
--- /dev/null
+++ b/tests/packages.config
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<packages>
+  <package id="Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn" version="1.8.1.7" targetFramework="native" />
+</packages>
\ No newline at end of file
diff --git a/tests/pch.cpp b/tests/pch.cpp
new file mode 100644
index 0000000..250fb27
--- /dev/null
+++ b/tests/pch.cpp
@@ -0,0 +1,5 @@
+//
+// pch.cpp
+//
+
+#include "pch.h"
diff --git a/tests/pch.h b/tests/pch.h
new file mode 100644
index 0000000..60c8bc5
--- /dev/null
+++ b/tests/pch.h
@@ -0,0 +1,7 @@
+//
+// pch.h
+//
+
+#pragma once
+
+#include <gtest/gtest.h>
diff --git a/tests/test.cpp b/tests/test.cpp
new file mode 100644
index 0000000..642dd90
--- /dev/null
+++ b/tests/test.cpp
@@ -0,0 +1,172 @@
+#include "pch.h"
+#include <CADSystem.h>
+#include <ASMTAssembly.h>
+#include <GESpMatParPvPrecise.h>
+#include <MomentOfInertiaSolver.h>
+
+using namespace MbD;
+
+TEST(OndselSolver, TestName) {
+	EXPECT_EQ(1, 1);
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runOndselSinglePendulum) {
+	//testing::internal::CaptureStdout();
+	auto cadSystem = std::make_shared<CADSystem>();
+	cadSystem->runOndselSinglePendulum();
+	//std::string output = testing::internal::GetCapturedStdout();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runPreDragBackhoe1) {
+	auto assembly = ASMTAssembly::assemblyFromFile(std::string(TEST_DATA_PATH) + "/runPreDragBackhoe1.asmt");
+	assembly->runDraggingLog(std::string(TEST_DATA_PATH) + "/draggingBackhoe1.log");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runPreDragBackhoe2) {
+	auto assembly = ASMTAssembly::assemblyFromFile(std::string(TEST_DATA_PATH) + "/runPreDragBackhoe2.asmt");
+	assembly->runDraggingLog(std::string(TEST_DATA_PATH) + "/draggingBackhoe2.log");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runPreDragBackhoe3) {
+	auto assembly = ASMTAssembly::assemblyFromFile(std::string(TEST_DATA_PATH) + "/runPreDragBackhoe3.asmt");
+	assembly->runDraggingLog(std::string(TEST_DATA_PATH) + "/draggingBackhoe3.log");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, pistonAllowZRotation) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/pistonAllowZRotation.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, RevRevJt) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevRevJt.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, RevCylJt) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/RevCylJt.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, CylSphJt) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/CylSphJt.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, SphSphJt) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/SphSphJt.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, Gears) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/Gears.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, anglejoint) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/anglejoint.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, constvel) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/constvel.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, rackscrew) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/rackscrew.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, planarbug) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/planarbug.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, cirpendu2) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/cirpendu2.asmt");	//Under constrained. Testing ICKine.
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, quasikine) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/quasikine.asmt");	//Under constrained. Testing ICKine.
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, piston) {
+	ASMTAssembly::readWriteFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runSinglePendulumSuperSimplified) {
+	ASMTAssembly::runSinglePendulumSuperSimplified();	//Mass is missing
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runSinglePendulumSuperSimplified2) {
+	ASMTAssembly::runSinglePendulumSuperSimplified2();	//DOF has infinite acceleration due to zero mass and inertias
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runSinglePendulumSimplified) {
+	ASMTAssembly::runSinglePendulumSimplified();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runSinglePendulum) {
+	ASMTAssembly::runSinglePendulum();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, piston2) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/piston.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, 00backhoe) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/00backhoe.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, circular) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/circular.asmt");	//Needs checking
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, engine1) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/engine1.asmt");	//Needs checking
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, fourbar) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbar.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, fourbot) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/fourbot.asmt");	//Very large but works
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, wobpump) {
+	ASMTAssembly::runFile(std::string(TEST_DATA_PATH) + "/wobpump.asmt");
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runOndselDoublePendulum) {
+	auto cadSystem = std::make_shared<CADSystem>();
+	cadSystem->runOndselDoublePendulum();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runOndselPiston) {
+	auto cadSystem = std::make_shared<CADSystem>();
+	cadSystem->runOndselPiston();		//For debugging
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, runPiston) {
+	auto cadSystem = std::make_shared<CADSystem>();
+	cadSystem->runPiston();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, GESpMatParPvPrecise) {
+	GESpMatParPvPrecise::runSpMat();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, MomentOfInertiaSolver) {
+	MomentOfInertiaSolver::example1();
+	EXPECT_TRUE(true);
+}
+TEST(OndselSolver, sharedptrTest) {
+	auto assm = ASMTAssembly::With();
+
+	std::shared_ptr<ASMTAssembly> assm1 = assm;	//New shared_ptr to old object. Reference count incremented.
+	assert(assm == assm1);
+	assert(assm.get() == assm1.get());
+	assert(&assm != &assm1);
+	assert(assm->constantGravity == assm1->constantGravity);
+	assert(&(assm->constantGravity) == &(assm1->constantGravity));
+
+	auto assm2 = std::make_shared<ASMTAssembly>(*assm);	//New shared_ptr to new object. Member variables copy old member variables
+	assert(assm != assm2);
+	assert(assm.get() != assm2.get());
+	assert(&assm != &assm2);
+	assert(assm->constantGravity == assm2->constantGravity);	//constantGravity is same object pointed to
+	assert(&(assm->constantGravity) != &(assm2->constantGravity)); //Different shared_ptrs of same reference counter
+	EXPECT_TRUE(true);
+}
+
diff --git a/tests/tests.vcxproj b/tests/tests.vcxproj
new file mode 100644
index 0000000..8558151
--- /dev/null
+++ b/tests/tests.vcxproj
@@ -0,0 +1,132 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project DefaultTargets="Build" ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <ItemGroup Label="ProjectConfigurations">
+    <ProjectConfiguration Include="Debug|Win32">
+      <Configuration>Debug</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|Win32">
+      <Configuration>Release</Configuration>
+      <Platform>Win32</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Debug|x64">
+      <Configuration>Debug</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+    <ProjectConfiguration Include="Release|x64">
+      <Configuration>Release</Configuration>
+      <Platform>x64</Platform>
+    </ProjectConfiguration>
+  </ItemGroup>
+  <PropertyGroup Label="Globals">
+    <ProjectGuid>{f525e02a-e399-4c92-9094-1b2ea5ab46b4}</ProjectGuid>
+    <Keyword>Win32Proj</Keyword>
+    <WindowsTargetPlatformVersion>10.0.22621.0</WindowsTargetPlatformVersion>
+    <ConfigurationType>Application</ConfigurationType>
+    <PlatformToolset>v143</PlatformToolset>
+    <CharacterSet>Unicode</CharacterSet>
+  </PropertyGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
+  <ImportGroup Label="ExtensionSettings" />
+  <ImportGroup Label="Shared" />
+  <ImportGroup Label="PropertySheets" />
+  <PropertyGroup Label="UserMacros" />
+  <ItemDefinitionGroup />
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <BasicRuntimeChecks>EnableFastChecks</BasicRuntimeChecks>
+      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+      <WarningLevel>Level3</WarningLevel>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Console</SubSystem>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+      <Optimization>Disabled</Optimization>
+      <PreprocessorDefinitions>X64;_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <BasicRuntimeChecks>EnableFastChecks</BasicRuntimeChecks>
+      <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
+      <WarningLevel>Level3</WarningLevel>
+      <AdditionalIncludeDirectories>C:\Users\askoh\OneDrive\askoh\visualstudio\Ondsel\OndselSolver2;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Console</SubSystem>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+      <PreprocessorDefinitions>WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Console</SubSystem>
+      <OptimizeReferences>true</OptimizeReferences>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
+    <ClCompile>
+      <PrecompiledHeader>Use</PrecompiledHeader>
+      <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
+      <PreprocessorDefinitions>X64;NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
+      <WarningLevel>Level3</WarningLevel>
+      <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
+    </ClCompile>
+    <Link>
+      <GenerateDebugInformation>true</GenerateDebugInformation>
+      <SubSystem>Console</SubSystem>
+      <OptimizeReferences>true</OptimizeReferences>
+      <EnableCOMDATFolding>true</EnableCOMDATFolding>
+    </Link>
+  </ItemDefinitionGroup>
+  <ItemGroup>
+    <ClInclude Include="pch.h" />
+  </ItemGroup>
+  <ItemGroup>
+    <ClCompile Include="test.cpp" />
+    <ClCompile Include="pch.cpp">
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
+      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
+    </ClCompile>
+  </ItemGroup>
+  <ItemGroup>
+    <None Include="packages.config" />
+  </ItemGroup>
+  <ItemGroup>
+    <ProjectReference Include="..\build\ALL_BUILD.vcxproj">
+      <Project>{8182b0ff-ac7c-3d8b-b91a-e508e8ad9a36}</Project>
+    </ProjectReference>
+    <ProjectReference Include="..\build\OndselSolver\OndselSolver.vcxproj">
+      <Project>{7645848d-0834-3e83-91f8-1a11238aa66d}</Project>
+    </ProjectReference>
+  </ItemGroup>
+  <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
+  <ImportGroup Label="ExtensionTargets">
+    <Import Project="..\build\packages\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.1.8.1.7\build\native\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.targets" Condition="Exists('..\build\packages\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.1.8.1.7\build\native\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.targets')" />
+  </ImportGroup>
+  <Target Name="EnsureNuGetPackageBuildImports" BeforeTargets="PrepareForBuild">
+    <PropertyGroup>
+      <ErrorText>This project references NuGet package(s) that are missing on this computer. Use NuGet Package Restore to download them.  For more information, see http://go.microsoft.com/fwlink/?LinkID=322105. The missing file is {0}.</ErrorText>
+    </PropertyGroup>
+    <Error Condition="!Exists('..\build\packages\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.1.8.1.7\build\native\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.targets')" Text="$([System.String]::Format('$(ErrorText)', '..\build\packages\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.1.8.1.7\build\native\Microsoft.googletest.v140.windesktop.msvcstl.static.rt-dyn.targets'))" />
+  </Target>
+</Project>
\ No newline at end of file
diff --git a/tests/tests.vcxproj.user b/tests/tests.vcxproj.user
new file mode 100644
index 0000000..88a5509
--- /dev/null
+++ b/tests/tests.vcxproj.user
@@ -0,0 +1,4 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
+  <PropertyGroup />
+</Project>
\ No newline at end of file