diff --git a/.gitignore b/.gitignore
index 128473bbadf2..1c1ae1f6f247 100644
--- a/.gitignore
+++ b/.gitignore
@@ -95,3 +95,24 @@ doc/urdf
 doc/ik.log
 doc/ik.pdf
 doc/rigidbody.tex
+solvers/test/failed_paths
+solvers/test/finite_solutions
+solvers/test/input.bert
+solvers/test/main_data
+solvers/test/midpath_data
+solvers/test/nonsingular_solutions
+solvers/test/output
+solvers/test/output_1
+solvers/test/output_2
+solvers/test/output_3
+solvers/test/output_4
+solvers/test/output_5
+solvers/test/output_6
+solvers/test/output_7
+solvers/test/raw_data
+solvers/test/raw_solutions
+solvers/test/real_finite_solutions
+solvers/test/regenSummary
+solvers/test/singular_solutions
+solvers/test/startRegen_0
+solvers/test/startRegen_1
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 01b91994fa14..65f6f0ea8b53 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,7 +61,7 @@ if (LCM_FOUND)
   # annoyingly, libbot does not define a classpath variable. there might be a cleaner way to do this
   execute_process(COMMAND pkg-config --variable=prefix bot2-lcmgl-client OUTPUT_VARIABLE LCMGL_BUILD_DIR)
   if (NOT LCMGL_BUILD_DIR)
-     message(WARNING "\n\n----- ERROR: bot2-lcmgl not found")
+     message(WARNING "\n\n----- WARNING: bot2-lcmgl not found")
   else ()
     string(STRIP ${LCMGL_BUILD_DIR} LCMGL_BUILD_DIR)
     find_jar(LCMGL_JAR_FILE bot2-lcmgl
diff --git a/solvers/@PolynomialProgram/gloptipoly.m b/solvers/@PolynomialProgram/gloptipoly.m
index 6de34f2a40b3..9a61c919f95f 100644
--- a/solvers/@PolynomialProgram/gloptipoly.m
+++ b/solvers/@PolynomialProgram/gloptipoly.m
@@ -37,12 +37,17 @@
 relaxation_order = 1;  % todo: make this an option
 while (exitflag == 0)
   try 
-    prog = msdp(min(objective),constraints,relaxation_order);
+    if isempty(constraints)
+      prog = msdp(min(objective),relaxation_order);
+    else
+      prog = msdp(min(objective),constraints,relaxation_order);
+    end
   catch ex
     if strcmp(ex.message,'Increase relaxation order')
       relaxation_order = relaxation_order+1
       continue;
     end
+    rethrow(ex);
   end
     
   [exitflag,objval] = msol(prog);
diff --git a/util/checkDependency.m b/util/checkDependency.m
index 3036da3c76f1..70f7f73549c1 100644
--- a/util/checkDependency.m
+++ b/util/checkDependency.m
@@ -177,7 +177,7 @@
     case 'gloptipoly3'
       conf.gloptipoly3_enabled = logical(exist('gloptipolyversion','file'));
       if (~conf.gloptipoly3_enabled)
-        conf.gloptipoly3_enabled = pod_pkg_conf('gloptipoly3');
+        conf.gloptipoly3_enabled = pod_pkg_config('gloptipoly3');
       end
       
       if (~conf.gloptipoly3_enabled)