diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index a47a56e0d12ac20d5505efaf7b71c165a7132fb4..55dc5d2668925ddd1869a1ca85d94ee7ceb5ed4d 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -39,8 +39,6 @@ namespace hpp {
     typedef model::GripperPtr_t GripperPtr_t;
     HPP_PREDEF_CLASS (AxialHandle);
     typedef boost::shared_ptr <AxialHandle> AxialHandlePtr_t;
-    typedef core::DifferentiableFunction DifferentiableFunction;
-    typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
     HPP_PREDEF_CLASS (Handle);
     typedef boost::shared_ptr <Handle> HandlePtr_t;
     HPP_PREDEF_CLASS (Object);
@@ -57,6 +55,7 @@ namespace hpp {
     RelativeTransformationPtr_t;
     HPP_PREDEF_CLASS (Robot);
     typedef boost::shared_ptr <Robot> RobotPtr_t;
+    typedef model::value_type value_type;
     typedef model::size_type size_type;
     typedef model::Transform3f Transform3f;
     typedef model::vector_t vector_t;
@@ -69,12 +68,20 @@ namespace hpp {
     typedef std::vector <DevicePtr_t> Devices_t;
     typedef std::vector <ObjectPtr_t> Objects_t;
     typedef std::map <JointConstPtr_t, JointPtr_t> JointMap_t;
+    typedef core::Constraint Constraint;
     typedef core::ConstraintPtr_t ConstraintPtr_t;
+    typedef core::LockedDof LockedDof;
+    typedef core::LockedDofPtr_t LockedDofPtr_t;
+    typedef core::ConfigProjector ConfigProjector;
+    typedef core::ConfigProjectorPtr_t ConfigProjectorPtr_t;
     typedef core::ConstraintSet ConstraintSet;
+    typedef core::ConstraintSetPtr_t ConstraintSetPtr_t;
+    typedef core::DifferentiableFunctionPtr_t DifferentiableFunctionPtr_t;
     
     typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
     typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
     typedef std::map <DifferentiableFunctionPtr_t, GraspPtr_t> GraspsMap_t;
+    typedef std::map <std::string, LockedDofPtr_t> LockedDofConstraintMap_t;
 
     HPP_PREDEF_CLASS(MotionProjector);
     typedef boost::shared_ptr < MotionProjector > MotionProjectorPtr_t;
diff --git a/include/hpp/manipulation/graph/fwd.hh b/include/hpp/manipulation/graph/fwd.hh
index fc64caa13fff736fa16ad409f2235f13ca996e24..e26bc13e743acffcfc1b5b86ece07809751fbd8f 100644
--- a/include/hpp/manipulation/graph/fwd.hh
+++ b/include/hpp/manipulation/graph/fwd.hh
@@ -37,9 +37,6 @@ namespace hpp {
       typedef std::vector < EdgePtr_t > Edges_t;
       typedef std::vector < NodeSelectorPtr_t > NodeSelectors_t;
 
-      typedef hpp::core::value_type value_type;
-      typedef hpp::model::ConfigurationIn_t ConfigurationIn_t;
-
       typedef hpp::core::Constraint Constraint;
       typedef hpp::core::ConstraintPtr_t ConstraintPtr_t;
       typedef hpp::core::LockedDof LockedDof;