diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
index a9f85ad1b9ef7049465489f3a2a1900091dc8137..597381ab39d95a152528b17ab481412ebab7e3ba 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.cpp
@@ -229,7 +229,7 @@ OnLineFootTrajectoryGeneration::UpdateFootPosition(deque<FootAbsolutePosition> &
 
 
 void
-OnLineFootTrajectoryGeneration::check_solution(double & X, double & Y,
+OnLineFootTrajectoryGeneration::check_solution(double X, double Y,
     const support_state_t & CurrentSupport, double CurrentTime)
 {
    if(CurrentSupport.StepsLeft>0)
@@ -288,7 +288,6 @@ OnLineFootTrajectoryGeneration::interpolate_feet_positions(double time, int Curr
         {
           LastSwingFootPosition = FinalLeftFootTraj_deq[CurrentIndex];
         }
-
       //Set parameters for current polynomial
       SetParametersWithInitPosInitSpeed(FootTrajectoryGenerationStandard::X_AXIS,
                                                 UnlockedSwingPeriod-InterpolationTimePassed,FPx,
diff --git a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
index 4c856a82896fa72c3a6573c3b74edd76580ca76d..757d71a2a9069edd1be76852bf33023179c515ac 100644
--- a/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
+++ b/src/FootTrajectoryGeneration/OnLineFootTrajectoryGeneration.h
@@ -97,7 +97,7 @@ namespace PatternGeneratorJRL
    /// \param[out] X Solution
    /// \param[out] Y Solution
    /// \param[in] CurrentSupport Support state
-   virtual void check_solution(double & X, double & Y,
+   virtual void check_solution(double X, double Y,
        const support_state_t & CurrentSupport, double CurrentTime);
 
 
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index aa6fa5af851c872fa3c0eaf4fa814935355790a0..6612f6d3de27ac19991730b3c7b51ccc6c21ad92 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -437,7 +437,7 @@ ZMPVelocityReferencedQP::OnLine(double time,
       if (EndingPhase_==false)
         {
           // This should be done only during the transition EndingPhase=false -> EndingPhase=true
-          TimeToStopOnLineMode_ = UpperTimeLimitToUpdate_ + QP_T_ * QP_N_;
+          TimeToStopOnLineMode_ = UpperTimeLimitToUpdate_+QP_T_ * QP_N_;
           // Set the ZMP reference as very important.
           // It suppose to work because Gamma appears only during the non-constant
         }