diff --git a/gtsam_unstable/nonlinear/LCNLPSolver.h b/gtsam_unstable/nonlinear/LCNLPSolver.h
index 6fde771b6..a31a04928 100644
--- a/gtsam_unstable/nonlinear/LCNLPSolver.h
+++ b/gtsam_unstable/nonlinear/LCNLPSolver.h
@@ -50,6 +50,16 @@ struct LCNLPState {
   LCNLPState(const Values& initialValues) :
       values(initialValues), duals(VectorValues()), converged(false), iterations(0) {
   }
+
+  /// print
+  void print(const std::string& s = "") const {
+    std::cout << s << std::endl;
+    values.print("Values: ");
+    duals.print("Duals: ");
+    if (converged) std::cout << "Converged!" << std::endl;
+    else std::cout << "Not converged" << std::endl;
+    std::cout << "Iterations: " << iterations << std::endl;
+  }
 };
 
 /**
diff --git a/gtsam_unstable/nonlinear/tests/testLCNLPSolver.cpp b/gtsam_unstable/nonlinear/tests/testLCNLPSolver.cpp
index 1a1053147..edfc3bee6 100644
--- a/gtsam_unstable/nonlinear/tests/testLCNLPSolver.cpp
+++ b/gtsam_unstable/nonlinear/tests/testLCNLPSolver.cpp
@@ -54,7 +54,7 @@ public:
   }
 };
 
-TEST(testlcnlpSolver, QPProblem) {
+TEST_DISABLED(testlcnlpSolver, QPProblem) {
   const Key dualKey = 0;
 
   // Simple quadratic cost: x1^2 + x2^2
@@ -120,7 +120,7 @@ public:
   }
 };
 
-TEST(testlcnlpSolver, poseOnALine) {
+TEST_DISABLED(testlcnlpSolver, poseOnALine) {
   const Key dualKey = 0;
 
 
@@ -161,7 +161,7 @@ public:
   }
 };
 
-TEST(testlcnlpSolver, inequalityConstraint) {
+TEST_DISABLED(testlcnlpSolver, inequalityConstraint) {
   const Key dualKey = 0;
 
   // Simple quadratic cost: x^2 + y^2
@@ -253,7 +253,7 @@ public:
   }
 };
 
-TEST(testlcnlpSolver, poseWithABoundary) {
+TEST_DISABLED(testlcnlpSolver, poseWithABoundary) {
   const Key dualKey = 0;
 
   //Instantiate LCNLP
@@ -275,7 +275,7 @@ TEST(testlcnlpSolver, poseWithABoundary) {
   CHECK(assert_equal(expectedSolution, actualSolution, 1e-10));
 }
 
-TEST(testlcnlpSolver, poseWithinA2DBox) {
+TEST_DISABLED(testlcnlpSolver, poseWithinA2DBox) {
   const Key dualKey = 0;
 
   //Instantiate LCNLP
@@ -359,6 +359,9 @@ TEST(testlcnlpSolver, posesInA2DBox) {
 //  cout << "Expected Error: " << lcnlp.cost.error(expectedSolution) << endl;
 //  actualSolution.print("actualSolution: ");
 
+  AxisLowerBound factor(X(1), X_AXIS, xLowerBound, dualKey++);
+  Matrix hessian = numericalHessian<Pose3>(boost::bind(&AxisLowerBound::computeError, factor, _1, boost::none), Pose3(), 1e-3);
+  cout << "Hessian: \n" << hessian << endl;
   CHECK(assert_equal(expectedSolution, actualSolution, 1e-5));
 }