diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
index e3a0fe1cc9b24b0e0ed8ac3ddad5040d41c883ae..f8cc5d3b3bbf7226c1abb959db78503d9f776f77 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.cpp
@@ -2472,8 +2472,6 @@ void ZMPVelocityReferencedQP::EndPhaseOfTheWalking(deque<ZMPPosition> &ZMPPositi
 						   deque<FootAbsolutePosition> &RightFootAbsolutePositions)
 {
   cout << "To be implemented" << endl;
-  return -1;
-
 }
 
 int ZMPVelocityReferencedQP::ReturnOptimalTimeToRegenerateAStep()