diff --git a/gtsam_unstable/linear/QPSolver.cpp b/gtsam_unstable/linear/QPSolver.cpp
index 377676a68..e951deb5e 100644
--- a/gtsam_unstable/linear/QPSolver.cpp
+++ b/gtsam_unstable/linear/QPSolver.cpp
@@ -243,7 +243,7 @@ GaussianFactorGraph QPSolver::buildDualGraph(const GaussianFactorGraph& graph,
 }
 
 //******************************************************************************
-pair<int, int> QPSolver::findWorstViolatedActiveIneq(
+pair<int, int> QPSolver::identifyLeavingConstraint(
     const VectorValues& lambdas) const {
   int worstFactorIx = -1, worstSigmaIx = -1;
   // preset the maxLambda to 0.0: if lambda is <= 0.0, the constraint is either
@@ -371,7 +371,7 @@ bool QPSolver::iterateInPlace(GaussianFactorGraph& workingGraph,
       lambdas.print("lambdas :");
 
     int factorIx, sigmaIx;
-    boost::tie(factorIx, sigmaIx) = findWorstViolatedActiveIneq(lambdas);
+    boost::tie(factorIx, sigmaIx) = identifyLeavingConstraint(lambdas);
     if (debug)
       cout << "violated active ineq - factorIx, sigmaIx: " << factorIx << " "
           << sigmaIx << endl;
diff --git a/gtsam_unstable/linear/QPSolver.h b/gtsam_unstable/linear/QPSolver.h
index 8e9b7de76..196eeadc3 100644
--- a/gtsam_unstable/linear/QPSolver.h
+++ b/gtsam_unstable/linear/QPSolver.h
@@ -115,7 +115,7 @@ public:
    * And we want to remove the worst one with the largest lambda from the active set.
    *
    */
-  std::pair<int, int> findWorstViolatedActiveIneq(
+  std::pair<int, int> identifyLeavingConstraint(
       const VectorValues& lambdas) const;
 
   /**
diff --git a/gtsam_unstable/linear/tests/testQPSolver.cpp b/gtsam_unstable/linear/tests/testQPSolver.cpp
index ec7edac60..d34a5aff6 100644
--- a/gtsam_unstable/linear/tests/testQPSolver.cpp
+++ b/gtsam_unstable/linear/tests/testQPSolver.cpp
@@ -77,14 +77,14 @@ TEST(QPSolver, constraintsAux) {
   VectorValues lambdas;
   lambdas.insert(constraintIx[0], (Vector(4) << -0.5, 0.0, 0.3, 0.1));
   int factorIx, lambdaIx;
-  boost::tie(factorIx, lambdaIx) = solver.findWorstViolatedActiveIneq(lambdas);
+  boost::tie(factorIx, lambdaIx) = solver.identifyLeavingConstraint(lambdas);
   LONGS_EQUAL(1, factorIx);
   LONGS_EQUAL(2, lambdaIx);
 
   VectorValues lambdas2;
   lambdas2.insert(constraintIx[0], (Vector(4) << -0.5, 0.0, -0.3, -0.1));
   int factorIx2, lambdaIx2;
-  boost::tie(factorIx2, lambdaIx2) = solver.findWorstViolatedActiveIneq(
+  boost::tie(factorIx2, lambdaIx2) = solver.identifyLeavingConstraint(
       lambdas2);
   LONGS_EQUAL(-1, factorIx2);
   LONGS_EQUAL(-1, lambdaIx2);