diff --git a/gtsam_unstable/linear/QPSParser.cpp b/gtsam_unstable/linear/QPSParser.cpp
index f11116bd7..718227307 100644
--- a/gtsam_unstable/linear/QPSParser.cpp
+++ b/gtsam_unstable/linear/QPSParser.cpp
@@ -61,7 +61,7 @@ struct QPSParser::MPSGrammar: base_grammar {
       void(
           bf::vector<Chars, Chars, Chars, Chars, Chars, Chars, Chars, double> const &)> addBound;
   boost::function<
-      void(bf::vector<Chars, Chars, Chars, Chars, Chars, Chars, Chars> const &)> addBoundFr;
+      void(bf::vector<Chars, Chars, Chars, Chars, Chars, Chars, Chars> const &)> addFreeBound;
   MPSGrammar(QPSVisitor * rqp) :
       base_grammar(start), rqp_(rqp), setName(
           boost::bind(&QPSVisitor::setName, rqp, ::_1)), addRow(
@@ -73,8 +73,8 @@ struct QPSParser::MPSGrammar: base_grammar {
           boost::bind(&QPSVisitor::addColumn, rqp, ::_1)), colDouble(
           boost::bind(&QPSVisitor::addColumnDouble, rqp, ::_1)), addQuadTerm(
           boost::bind(&QPSVisitor::addQuadTerm, rqp, ::_1)), addBound(
-          boost::bind(&QPSVisitor::addBound, rqp, ::_1)), addBoundFr(
-          boost::bind(&QPSVisitor::addBoundFr, rqp, ::_1)) {
+          boost::bind(&QPSVisitor::addBound, rqp, ::_1)), addFreeBound(
+          boost::bind(&QPSVisitor::addFreeBound, rqp, ::_1)) {
     using namespace boost::spirit;
     using namespace boost::spirit::qi;
     character = lexeme[alnum | '_' | '-' | '.'];
@@ -100,7 +100,7 @@ struct QPSParser::MPSGrammar: base_grammar {
     bound = lexeme[(*blank >> word >> +blank >> word >> +blank >> word >> +blank
         >> double_)[addBound] >> *blank];
     bound_fr = lexeme[*blank >> word >> +blank >> word >> +blank >> word
-        >> *blank][addBoundFr];
+        >> *blank][addFreeBound];
     rows = lexeme[lit("ROWS") >> *blank >> eol >> +(row >> eol)];
     rhs = lexeme[lit("RHS") >> *blank >> eol
         >> +((rhs_double | rhs_single) >> eol)];
diff --git a/gtsam_unstable/linear/QPSVisitor.cpp b/gtsam_unstable/linear/QPSVisitor.cpp
index 6f82f1a31..89c4d8766 100644
--- a/gtsam_unstable/linear/QPSVisitor.cpp
+++ b/gtsam_unstable/linear/QPSVisitor.cpp
@@ -211,7 +211,7 @@ void QPSVisitor::addBound(
   }
 }
 
-void QPSVisitor::addBoundFr(
+void QPSVisitor::addFreeBound(
     boost::fusion::vector<vector<char>, vector<char>,
         vector<char>, vector<char>, vector<char>,
         vector<char>, vector<char>> const &vars) {
@@ -241,12 +241,15 @@ void QPSVisitor::addQuadTerm(
 }
 
 QP QPSVisitor::makeQP() {
+  // Create the keys from the variable names
   vector < Key > keys;
-  vector < Matrix > Gs;
-  vector < Vector > gs;
   for (auto kv : varname_to_key) {
     keys.push_back(kv.second);
   }
+
+  // Fill the G matrices and g vectors from 
+  vector < Matrix > Gs;
+  vector < Vector > gs;
   sort(keys.begin(), keys.end());
   for (unsigned int i = 0; i < keys.size(); ++i) {
     for (unsigned int j = i; j < keys.size(); ++j) {
@@ -266,12 +269,14 @@ QP QPSVisitor::makeQP() {
       gs.emplace_back(Z_1x1);
     }
   }
-  size_t dual_key_num = keys.size() + 1;
+
+  // Construct the quadratic program
   QP madeQP;
   auto obj = HessianFactor(keys, Gs, gs, 2 * f);
-
   madeQP.cost.push_back(obj);
 
+  // Add equality and inequality constraints into the QP
+  size_t dual_key_num = keys.size() + 1;
   for (auto kv : E) {
     map < Key, Matrix11 > keyMatrixMapPos;
     map < Key, Matrix11 > keyMatrixMapNeg;
diff --git a/gtsam_unstable/linear/QPSVisitor.h b/gtsam_unstable/linear/QPSVisitor.h
index 26f4c95dd..8a255c3b1 100644
--- a/gtsam_unstable/linear/QPSVisitor.h
+++ b/gtsam_unstable/linear/QPSVisitor.h
@@ -104,7 +104,7 @@ public:
           std::vector<char>, std::vector<char>, std::vector<char>,
           std::vector<char>, std::vector<char>, double> const & vars);
 
-  void addBoundFr(
+  void addFreeBound(
       boost::fusion::vector<std::vector<char>, std::vector<char>,
           std::vector<char>, std::vector<char>, std::vector<char>,
           std::vector<char>, std::vector<char>> const & vars);