diff --git a/gtsam_unstable/linear/ActiveSetSolver-inl.h b/gtsam_unstable/linear/ActiveSetSolver-inl.h
index 34d8e2b5d..18dc07aec 100644
--- a/gtsam_unstable/linear/ActiveSetSolver-inl.h
+++ b/gtsam_unstable/linear/ActiveSetSolver-inl.h
@@ -189,13 +189,6 @@ This::buildWorkingGraph(const InequalityFactorGraph& workingSet,
   return workingGraph;
 }
 
-//******************************************************************************
-Template VectorValues
-This::evaluateCostFunction(const VectorValues &xk) const {
-  GaussianFactorGraph costGraph;
-  costGraph.push_back(POLICY::buildCostFunction(problem_, xk));
-  return costGraph.optimize();
-}
 //******************************************************************************
 Template typename This::State This::iterate(
     const typename This::State& state) const {
diff --git a/gtsam_unstable/linear/ActiveSetSolver.h b/gtsam_unstable/linear/ActiveSetSolver.h
index 1780fdfd9..a5c60f311 100644
--- a/gtsam_unstable/linear/ActiveSetSolver.h
+++ b/gtsam_unstable/linear/ActiveSetSolver.h
@@ -168,8 +168,6 @@ public: /// Just for testing...
       const InequalityFactorGraph& workingSet,
       const VectorValues& xk = VectorValues()) const;
   
-  VectorValues evaluateCostFunction(const VectorValues& xk) const;
-  
   /// Iterate 1 step, return a new state with a new workingSet and values
   State iterate(const State& state) const;
 
diff --git a/gtsam_unstable/linear/InequalityFactorGraph.h b/gtsam_unstable/linear/InequalityFactorGraph.h
index f8aa0dc2b..c87645697 100644
--- a/gtsam_unstable/linear/InequalityFactorGraph.h
+++ b/gtsam_unstable/linear/InequalityFactorGraph.h
@@ -53,7 +53,7 @@ public:
   double error(const VectorValues& x) const {
     for (const sharedFactor& factor : *this) {
       if (factor)
-        if (factor->error(x) > 0)
+        if (factor->error(x) > 1e-7)
           return std::numeric_limits<double>::infinity();
     }
     return 0.0;
diff --git a/gtsam_unstable/linear/RawQP.cpp b/gtsam_unstable/linear/RawQP.cpp
index b03bcc079..ec71cae5b 100644
--- a/gtsam_unstable/linear/RawQP.cpp
+++ b/gtsam_unstable/linear/RawQP.cpp
@@ -216,7 +216,7 @@ QP RawQP::makeQP() {
     }
   }
   for (Key key1 : keys) {
-    gs.push_back(g[key1]);
+    gs.push_back(-g[key1]);
   }
   int dual_key_num = keys.size() + 1;
   QP madeQP;
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index 3b77e0a55..bc9dd1f98 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -217,8 +217,8 @@ pair<QP, QP> testParser(QPSParser parser) {
   Key X1(Symbol('X', 1)), X2(Symbol('X', 2));
   // min f(x,y) = 4 + 1.5x -y + 0.58x^2 + 2xy + 2yx + 10y^2
   expectedqp.cost.push_back(
-      HessianFactor(X1, X2, 8.0 * I_1x1, 2.0 * I_1x1, 1.5 * kOne, 10.0 * I_1x1,
-          -2.0 * kOne, 4.0));
+      HessianFactor(X1, X2, 8.0 * I_1x1, 2.0 * I_1x1, -1.5 * kOne, 10.0 * I_1x1,
+          2.0 * kOne, 4.0));
   // 2x + y >= 2
   // -x + 2y <= 6
   expectedqp.inequalities.push_back(
@@ -263,12 +263,12 @@ TEST(QPSolver, QPExampleTest){
   VectorValues expectedSolution;
   expectedSolution.insert(Symbol('X',1),0.7625*I_1x1);
   expectedSolution.insert(Symbol('X',2),0.4750*I_1x1);
-  VectorValues actualCost = solver.evaluateCostFunction(actualSolution);
-  VectorValues expectedCost = solver.evaluateCostFunction(expectedCost);
-  GTSAM_PRINT(actualCost);
-  CHECK(assert_equal(expectedCost, actualCost))
+  double error_expected = problem.cost.error(expectedSolution);
+  double error_actual = problem.cost.error(actualSolution);
   CHECK(assert_equal(expectedSolution, actualSolution, 1e-7))
+  CHECK(assert_equal(error_expected, error_actual))
 }
+
 /* ************************************************************************* */
 // Create Matlab's test graph as in http://www.mathworks.com/help/optim/ug/quadprog.html
 QP createTestMatlabQPEx() {