diff --git a/sample/CMakeLists.txt b/sample/CMakeLists.txt
index e3168a41f..d11c9a5ee 100644
--- a/sample/CMakeLists.txt
+++ b/sample/CMakeLists.txt
@@ -36,42 +36,12 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> ]]
 
-foreach(SAMPLE "kf_1x1x0_building_height.cpp" "kf_1x1x0_liquid_temperature.cpp"
-               "kf_1x1x1_dog_position.cpp")
-  get_filename_component(NAME ${SAMPLE} NAME_WE)
-  add_executable(kalman_sample_${NAME}_driver ${SAMPLE})
-  target_link_libraries(kalman_sample_${NAME}_driver PRIVATE kalman kalman_main
-                                                             kalman_options)
-  separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-  add_test(NAME kalman_sample_${NAME}
-           COMMAND ${TEST_COMMAND} $<TARGET_FILE:kalman_sample_${NAME}_driver>)
-endforeach()
-
-foreach(BACKEND IN ITEMS "eigen" "naive")
-  foreach(SAMPLE "ekf_4x1x0_soaring.cpp" "kf_2x1x1_rocket_altitude.cpp")
-    get_filename_component(NAME ${SAMPLE} NAME_WE)
-    add_executable(kalman_sample_${BACKEND}_${NAME}_driver ${SAMPLE})
-    target_link_libraries(
-      kalman_sample_${BACKEND}_${NAME}_driver
-      PRIVATE kalman kalman_main kalman_linalg_${BACKEND} kalman_options)
-    separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-    add_test(NAME kalman_sample_${BACKEND}_${NAME}
-             COMMAND ${TEST_COMMAND}
-                     $<TARGET_FILE:kalman_sample_${BACKEND}_${NAME}_driver>)
-  endforeach()
-endforeach()
-
-foreach(BACKEND IN ITEMS "eigen")
-  foreach(SAMPLE "kf_6x2x0_vehicle_location.cpp"
-                 "kf_8x4x0_deep_sort_bounding_box.cpp")
-    get_filename_component(NAME ${SAMPLE} NAME_WE)
-    add_executable(kalman_sample_${BACKEND}_${NAME}_driver ${SAMPLE})
-    target_link_libraries(
-      kalman_sample_${BACKEND}_${NAME}_driver
-      PRIVATE kalman kalman_main kalman_linalg_${BACKEND} kalman_options)
-    separate_arguments(TEST_COMMAND UNIX_COMMAND $ENV{COMMAND})
-    add_test(NAME kalman_sample_${BACKEND}_${NAME}
-             COMMAND ${TEST_COMMAND}
-                     $<TARGET_FILE:kalman_sample_${BACKEND}_${NAME}_driver>)
-  endforeach()
-endforeach()
+include(sample.cmake)
+
+sample(NAME "ekf_4x1x0_soaring" BACKENDS "eigen" "naive")
+sample(NAME "kf_1x1x0_building_height")
+sample(NAME "kf_1x1x0_liquid_temperature")
+sample(NAME "kf_1x1x1_dog_position")
+sample(NAME "kf_2x1x1_rocket_altitude" BACKENDS "eigen" "naive")
+sample(NAME "kf_6x2x0_vehicle_location" BACKENDS "eigen")
+sample(NAME "kf_8x4x0_deep_sort_bounding_box" BACKENDS "eigen")
diff --git a/sample/sample.cmake b/sample/sample.cmake
new file mode 100644
index 000000000..349cb01c7
--- /dev/null
+++ b/sample/sample.cmake
@@ -0,0 +1,73 @@
+#[[ __          _      __  __          _   _
+| |/ /    /\   | |    |  \/  |   /\   | \ | |
+| ' /    /  \  | |    | \  / |  /  \  |  \| |
+|  <    / /\ \ | |    | |\/| | / /\ \ | . ` |
+| . \  / ____ \| |____| |  | |/ ____ \| |\  |
+|_|\_\/_/    \_\______|_|  |_/_/    \_\_| \_|
+
+Kalman Filter
+Version 0.4.0
+https://github.com/FrancoisCarouge/Kalman
+
+SPDX-License-Identifier: Unlicense
+
+This is free and unencumbered software released into the public domain.
+
+Anyone is free to copy, modify, publish, use, compile, sell, or
+distribute this software, either in source code form or as a compiled
+binary, for any purpose, commercial or non-commercial, and by any
+means.
+
+In jurisdictions that recognize copyright laws, the author or authors
+of this software dedicate any and all copyright interest in the
+software to the public domain. We make this dedication for the benefit
+of the public at large and to the detriment of our heirs and
+successors. We intend this dedication to be an overt act of
+relinquishment in perpetuity of all present and future rights to this
+software under copyright law.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+OTHER DEALINGS IN THE SOFTWARE.
+
+For more information, please refer to <https://unlicense.org> ]]
+
+# Add a given sample.
+#
+# * NAME The name of the sample file without extension.
+# * BACKENDS Optional list of backends to use against the sample.
+function(sample)
+  set(oneValueArgs NAME)
+  set(multiValueArgs BACKENDS)
+  cmake_parse_arguments(PARSE_ARGV 0 SAMPLE "" "${oneValueArgs}"
+                        "${multiValueArgs}")
+
+  if(NOT SAMPLE_BACKENDS)
+    add_executable(kalman_sample_${SAMPLE_NAME}_driver "${SAMPLE_NAME}.cpp")
+    target_link_libraries(
+      kalman_sample_${SAMPLE_NAME}_driver
+      PRIVATE kalman kalman_main kalman_options kalman_unit_mp_units)
+    separate_arguments(SAMPLE_COMMAND UNIX_COMMAND $ENV{COMMAND})
+    add_test(NAME kalman_sample_${SAMPLE_NAME}
+             COMMAND ${SAMPLE_COMMAND}
+                     $<TARGET_FILE:kalman_sample_${SAMPLE_NAME}_driver>)
+  else()
+    foreach(BACKEND IN ITEMS ${SAMPLE_BACKENDS})
+      add_executable(kalman_sample_${BACKEND}_${SAMPLE_NAME}_driver
+                     "${SAMPLE_NAME}.cpp")
+      target_link_libraries(
+        kalman_sample_${BACKEND}_${SAMPLE_NAME}_driver
+        PRIVATE kalman kalman_main kalman_linalg_${BACKEND} kalman_options
+                kalman_unit_mp_units)
+      separate_arguments(SAMPLE_COMMAND UNIX_COMMAND $ENV{COMMAND})
+      add_test(
+        NAME kalman_sample_${BACKEND}_${SAMPLE_NAME}
+        COMMAND ${SAMPLE_COMMAND}
+                $<TARGET_FILE:kalman_sample_${BACKEND}_${SAMPLE_NAME}_driver>)
+    endforeach()
+  endif()
+endfunction(sample)
diff --git a/test/test.cmake b/test/test.cmake
index 50098069b..a5caac94a 100644
--- a/test/test.cmake
+++ b/test/test.cmake
@@ -36,8 +36,10 @@ OTHER DEALINGS IN THE SOFTWARE.
 
 For more information, please refer to <https://unlicense.org> ]]
 
-# Add a given test NAME The name of the test file without extension. BACKENDS
-# Optional list of backend to use against the test.
+# Add a given test.
+#
+# * NAME The name of the test file without extension.
+# * BACKENDS Optional list of backends to use against the test.
 function(test)
   set(oneValueArgs NAME)
   set(multiValueArgs BACKENDS)