diff --git a/cpp/Makefile b/cpp/Makefile
new file mode 100644
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+++ b/cpp/Makefile
@@ -0,0 +1,94 @@
+# Makefile : builds libbreezyslam.so C++ library
+#
+# Copyright (C) Simon D. Levy 2014
+#
+# This code is free software: you can redistribute it and/or modify
+# it under the terms of the GNU Lesser General Public License as 
+# published by the Free Software Foundation, either version 3 of the 
+# License, or (at your option) any later version.
+#
+# This code is distributed in the hope that it will be useful,     
+# but WITHOUT ANY WARRANTY without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+#  You should have received a copy of the GNU Lesser General Public License 
+#  along with this code.  If not, see <http:#www.gnu.org/licenses/>.
+#  You should also have received a copy of the Parrot Parrot AR.Drone 
+#  Development License and Parrot AR.Drone copyright notice and disclaimer 
+#  and If not, see 
+#   <https:#projects.ardrone.org/attachments/277/ParrotLicense.txt> 
+# and
+#   <https:#projects.ardrone.org/attachments/278/ParrotCopyrightAndDisclaimer.txt>.
+
+# Where you want to put the library
+LIBDIR = /usr/local/lib
+
+# Set library extension based on OS
+ifeq ("$(shell uname)","Darwin")
+  LIBEXT = dylib
+else ifeq ("$(shell uname)","Linux")
+  CFLAGS = -fPIC
+  LIBEXT = so
+else
+  LIBEXT = dll
+endif
+
+ARCH = $(shell uname -m)
+
+# Set SIMD compile params based on architecture
+ifeq ("$(ARCH)","armv7l")
+  SIMD_FLAGS = -mfpu=neon
+else ifeq ("$(ARCH)","i686")
+  SIMD_FLAGS = -msse3
+else
+  ARCH = sisd
+endif
+
+all: libbreezyslam.$(LIBEXT)
+
+test: breezytest
+	./breezytest
+
+libbreezyslam.$(LIBEXT): algorithms.o  Scan.o Map.o Laser.o WheeledRobot.o \
+                         coreslam.o coreslam_$(ARCH).o random.o ziggurat.o
+	g++ -O3 -shared algorithms.o Scan.o Map.o Laser.o WheeledRobot.o \
+                        coreslam.o coreslam_$(ARCH).o random.o ziggurat.o \
+          -o libbreezyslam.$(LIBEXT) -lm
+
+algorithms.o: algorithms.cpp algorithms.hpp Laser.hpp Position.hpp Map.hpp Scan.hpp Velocities.hpp \
+               WheeledRobot.hpp ../c/coreslam.h 
+	g++ -O3 -I../c -c -Wall $(CFLAGS) algorithms.cpp
+
+Scan.o: Scan.cpp Scan.hpp Velocities.hpp Laser.hpp ../c/coreslam.h
+	g++ -O3 -I../c -c -Wall $(CFLAGS) Scan.cpp
+
+Map.o: Map.cpp Map.hpp Position.hpp Scan.hpp ../c/coreslam.h
+	g++ -O3 -I../c -c -Wall $(CFLAGS) Map.cpp
+
+Laser.o: Laser.cpp Laser.hpp ../c/coreslam.h
+	g++ -O3 -I../c -c -Wall $(CFLAGS) Laser.cpp
+
+WheeledRobot.o: WheeledRobot.cpp WheeledRobot.hpp 
+	g++ -O3 -I../c -c -Wall $(CFLAGS) WheeledRobot.cpp
+
+coreslam.o: ../c/coreslam.c ../c/coreslam.h
+	gcc -O3 -c -Wall $(CFLAGS) ../c/coreslam.c
+
+coreslam_$(ARCH).o: ../c/coreslam_$(ARCH).c ../c/coreslam.h
+	gcc -O3 -c -Wall $(CFLAGS) $(SIMD_FLAGS) ../c/coreslam_$(ARCH).c
+
+random.o: ../c/random.c
+	gcc -O3 -c -Wall $(CFLAGS) ../c/random.c
+	
+ziggurat.o: ../c/ziggurat.c
+	gcc -O3 -c -Wall $(CFLAGS) ../c/ziggurat.c
+	
+install: libbreezyslam.$(LIBEXT)
+	cp libbreezyslam.$(LIBEXT) $(LIBDIR)
+	
+doc:
+	doxygen
+
+clean:
+	rm -rf  libbreezyslam.$(LIBEXT) *.o Documentation \#* *~