diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index c00f49ad65ed11f17dc5fa43841c652e6eaf98b9..90d8cb135b3cd71c85f625e0723fb9434f753906 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -498,8 +498,8 @@ namespace hpp {
 
 	  /// Generate a reachable configuration in the target state
 	  ///
-	  /// \param qStart node containing the configuration defining the right
-	  ///        hand side of the edge path constraint,
+	  /// \param qStart configuration defining the right hand side of the
+          ///               edge path constraint,
 	  /// \param[in,out] q input configuration used to initialize the
           ///                numerical solver and output configuration lying
           ///                in the target state and reachable along the edge
@@ -507,6 +507,17 @@ namespace hpp {
           virtual bool generateTargetConfig (ConfigurationIn_t qStart,
                                              ConfigurationOut_t q) const;
 
+          /// Generate a reachable configuration in leaf of target state
+	  /// \param qStart configuration defining the right hand side of the
+          ///               edge path constraint,
+          /// \param qLeaf configuration used to set the right hand side of
+          ///        the target state foliation. See method
+          ///        \link LevelSetEdge::insertParamConstraint
+          ///        insertParamConstraint\endlink.
+          bool generateTargetConfigOnLeaf(ConfigurationIn_t qStart,
+                                          ConfigurationIn_t qLeaf,
+                                          ConfigurationOut_t q) const;
+
           /// \deprecated Use buildTargetConstraint instead
           virtual ConstraintSetPtr_t buildConfigConstraint()
             HPP_MANIPULATION_DEPRECATED;
@@ -578,9 +589,6 @@ namespace hpp {
           virtual void initialize ();
 
         private:
-          bool applyConstraintsWithOffset (ConfigurationIn_t qoffset,
-              ConfigurationIn_t qlevelset, ConfigurationOut_t q) const;
-
           // Parametrizer
           // NumericalConstraints_t
           NumericalConstraints_t paramNumericalConstraints_;
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 45b90fcaa5fba5fe4e3f7ad5752401c76483a6b3..412e82fa7df1c90de75dba8222c73b1e29966e29 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -625,9 +625,9 @@ namespace hpp {
           hppDout (warning, "Edge " << name() << ": Distrib is empty");
           return false;
         }
-        const Configuration_t& qlevelset = *(distrib ()->configuration ());
+        const Configuration_t& qLeaf = *(distrib ()->configuration ());
 
-        return applyConstraintsWithOffset (qStart, qlevelset, q);
+        return generateTargetConfigOnLeaf (qStart, qLeaf, q);
       }
 
       bool LevelSetEdge::applyConstraints(core::NodePtr_t nStart,
@@ -645,14 +645,15 @@ namespace hpp {
           hppDout (warning, "Edge " << name() << ": Distrib is empty");
           return false;
         }
-        const Configuration_t& qlevelset = *(distrib ()->configuration ()),
+        const Configuration_t& qLeaf = *(distrib ()->configuration ()),
                                qStart = *(nStart->configuration ());
 
-        return applyConstraintsWithOffset (qStart, qlevelset, q);
+        return generateTargetConfigOnLeaf (qStart, qLeaf, q);
       }
 
-      bool LevelSetEdge::applyConstraintsWithOffset (ConfigurationIn_t qStart,
-          ConfigurationIn_t qlevelset, ConfigurationOut_t q) const
+      bool LevelSetEdge::generateTargetConfigOnLeaf(ConfigurationIn_t qStart,
+                                                    ConfigurationIn_t qLeaf,
+                                                    ConfigurationOut_t q) const
       {
         // First, set the offset.
         ConstraintSetPtr_t cs = targetConstraint();
@@ -666,7 +667,7 @@ namespace hpp {
 	for (NumericalConstraints_t::const_iterator it =
 	       paramNumericalConstraints_.begin ();
 	     it != paramNumericalConstraints_.end (); ++it) {
-          cp->rightHandSideFromConfig (*it, qlevelset);
+          cp->rightHandSideFromConfig (*it, qLeaf);
         }
 
         // Eventually, do the projection.