diff --git a/Makefile b/Makefile
index f5491974b6fb..793e8997270b 100644
--- a/Makefile
+++ b/Makefile
@@ -68,7 +68,7 @@ mlint	:
 	matlab -nodisplay -r "addpath(fullfile(pwd,'thirdParty','runmlint')); runmlint('.mlintopts'); exit"
 
 test	:  configure
-	-@cd pod-build && ctest -D Experimental --output-on-failure --timeout 300
+	-@cd pod-build && ctest -D Experimental --output-on-failure --timeout 300 -j 8
 
 test_continuous : configure
 	while true; do $(MAKE) Continuous; sleep 300; done
diff --git a/solvers/@PolynomialProgram/PolynomialProgram.m b/solvers/@PolynomialProgram/PolynomialProgram.m
index a095ee06f2c4..8f64ce73c32b 100644
--- a/solvers/@PolynomialProgram/PolynomialProgram.m
+++ b/solvers/@PolynomialProgram/PolynomialProgram.m
@@ -60,7 +60,7 @@
         end
       end
 
-      obj = obj@NonlinearProgram(length(decision_vars),length(equality_constraints),length(inequality_constraints));
+      obj = obj@NonlinearProgram(length(decision_vars));
       obj.decision_vars = decision_vars;
       obj.poly_objective = objective;
       obj.poly_inequality_constraints = inequality_constraints;
diff --git a/solvers/NonlinearProgram.m b/solvers/NonlinearProgram.m
index 3a3c343f20a8..a4bcad013ec7 100644
--- a/solvers/NonlinearProgram.m
+++ b/solvers/NonlinearProgram.m
@@ -81,7 +81,7 @@
       if(nargin<2)
         x_name = cellfun(@(i) sprintf('x%d',i),num2cell((1:obj.num_vars)'),'UniformOutput',false);
       else
-        if(~iscellstr(x_name) || numel(x_name) ~= obj.num_vars)
+        if(~iscellstr(x_name) || numel(x_name) ~= num_vars)
           error('Drake:NonlinearProgra:InvalidArgument','Argument x_name should be a cell containing %d strings',obj.num_vars);
         end
         x_name = x_name(:);
@@ -1031,6 +1031,10 @@ function checkGradient(x_free)
       [exitflag,infeasible_constraint_name] = obj.mapSolverInfo(exitflag,x);
       objval = objective(x);
     end
+    
+    function obj = setVarBounds(obj,lb,ub)
+      error('Drake:NonlinearProgram:setVarBounds is deprecated, use addConstraint instead');
+    end
   end
   
   methods(Access = protected)
@@ -1124,7 +1128,8 @@ function checkGradient(x_free)
   
   methods(Access = private)
     function infeasible_constraint_name = infeasibleConstraint(obj,x)
-      fval = obj.nonlinearConstraints(x);
+      [g,h] = obj.nonlinearConstraints(x);
+      fval = [g;h];
       A = [obj.Ain;obj.Aeq];
       if(~isempty(A))
         fval = [fval;A*x];
diff --git a/solvers/QuadraticProgram.m b/solvers/QuadraticProgram.m
index 2ff38303c8ae..50a7124b429c 100644
--- a/solvers/QuadraticProgram.m
+++ b/solvers/QuadraticProgram.m
@@ -37,7 +37,7 @@
     if nargin<7, x_lb=-inf(n,1); end
     if nargin<8, x_ub=inf(n,1); end
 
-    obj = obj@NonlinearProgram(size(Q,1),0,0);
+    obj = obj@NonlinearProgram(size(Q,1));
     obj.Q = Q;
     obj.f = f;
     obj.Ain = Ain;
diff --git a/solvers/test/gloptipoly_constrained_test.m b/solvers/test/gloptipoly_constrained_test.m
index d30c84370f31..02bb13ac42f5 100644
--- a/solvers/test/gloptipoly_constrained_test.m
+++ b/solvers/test/gloptipoly_constrained_test.m
@@ -7,7 +7,7 @@
   3*x(2)+x(3)-6];
 
 prog = PolynomialProgram(x,objective,ineq);
-prog = setVarBounds(prog,[0;0;0],[2;inf;3]);
+prog = prog.addConstraint(BoundingBoxConstraint([0;0;0],[2;inf;3]));
 
 [x,objval,exitflag] = gloptipoly(prog)