diff --git a/include/hpp/manipulation/roadmap-node.hh b/include/hpp/manipulation/roadmap-node.hh
index e55a92b31ffd26c7bc6be47c17f77ac1d81732ac..422da08d0f01ccf581efee5f067b73b54cdcb644 100644
--- a/include/hpp/manipulation/roadmap-node.hh
+++ b/include/hpp/manipulation/roadmap-node.hh
@@ -92,21 +92,21 @@ namespace hpp {
         }
         /// \}
 
-        void symbolicComponent (const LeafConnectedCompPtr_t& sc)
+        void leafConnectedComponent (const LeafConnectedCompPtr_t& sc)
         {
-          symbolicCC_ = sc;
+          leafCC_ = sc;
         }
 
-        LeafConnectedCompPtr_t symbolicComponent () const
+        LeafConnectedCompPtr_t leafConnectedComponent () const
         {
-          return symbolicCC_;
+          return leafCC_;
         }
 
       private:
         CachingSystem cacheSystem_;
 
         graph::StateWkPtr_t state_;
-        LeafConnectedCompPtr_t symbolicCC_;
+        LeafConnectedCompPtr_t leafCC_;
     };
   } // namespace manipulation
 } // namespace hpp
diff --git a/include/hpp/manipulation/roadmap.hh b/include/hpp/manipulation/roadmap.hh
index 56de8879e3565d1f0e5bcc4fdb7e95eb0a9c9304..abe2aa814b4e2739886afdf28afd03aef0b572af 100644
--- a/include/hpp/manipulation/roadmap.hh
+++ b/include/hpp/manipulation/roadmap.hh
@@ -66,10 +66,14 @@ namespace hpp {
 	/// Get graph state corresponding to given roadmap node
 	graph::StatePtr_t getState(RoadmapNodePtr_t node);
 
-        /// Get the symbolic components
-        const LeafConnectedComps_t& symbolicComponents () const
+        /// Get leaf connected components
+        ///
+        /// Leaf connected components are composed of nodes
+        /// \li belonging to the same connected component of the roadmap and,
+        /// \li lying in the same leaf of a transition.
+        const LeafConnectedComps_t& leafConnectedComponents () const
         {
-          return symbolicCCs_;
+          return leafCCs_;
         }
 
       protected:
@@ -97,7 +101,7 @@ namespace hpp {
         Histograms_t histograms_;
         graph::GraphPtr_t graph_;
         RoadmapWkPtr_t weak_;
-        LeafConnectedComps_t symbolicCCs_;
+        LeafConnectedComps_t leafCCs_;
     };
     /// \}
   } // namespace manipulation
diff --git a/src/leaf-connected-comp.cc b/src/leaf-connected-comp.cc
index e7204bc8404861c783cb546670730c83d27cb757..bbf5fd56b8f1c7745869118d0a43ee2d18d13e2a 100644
--- a/src/leaf-connected-comp.cc
+++ b/src/leaf-connected-comp.cc
@@ -74,7 +74,7 @@ namespace hpp {
       // Tell other's nodes that they now belong to this connected component
       for (RoadmapNodes_t::iterator itNode = other->nodes_.begin ();
 	   itNode != other->nodes_.end (); ++itNode) {
-	(*itNode)->symbolicComponent (weak_.lock ());
+	(*itNode)->leafConnectedComponent (weak_.lock ());
       }
       // Add other's nodes to this list.
       nodes_.insert (nodes_.end (), other->nodes_.begin(), other->nodes_.end());
diff --git a/src/roadmap.cc b/src/roadmap.cc
index 28e67f5ab8586a6e00d4533c1a218a5ad8c2e12f..cfec8b7711649bf36bf146cef5e0b1e410f85880 100644
--- a/src/roadmap.cc
+++ b/src/roadmap.cc
@@ -51,7 +51,7 @@ namespace hpp {
         for (it = hs.begin(); it != hs.end(); ++it)
           (*it)->clear ();
       }
-      symbolicCCs_.clear();
+      leafCCs_.clear();
     }
 
     void Roadmap::push_node (const core::NodePtr_t& n)
@@ -60,7 +60,7 @@ namespace hpp {
       const RoadmapNodePtr_t& node = 
         static_cast <const RoadmapNodePtr_t> (n);
       statInsert (node);
-      symbolicCCs_.insert(node->symbolicComponent());
+      leafCCs_.insert(node->leafConnectedComponent());
     }
 
     void Roadmap::statInsert (const RoadmapNodePtr_t& n)
@@ -119,7 +119,7 @@ namespace hpp {
       // call RoadmapNode constructor with new manipulation connected component
       RoadmapNodePtr_t node = new RoadmapNode (q, ConnectedComponent::create(weak_));
       LeafConnectedCompPtr_t sc = WeighedLeafConnectedComp::create (weak_.lock());
-      node->symbolicComponent (sc);
+      node->leafConnectedComponent (sc);
       sc->setFirstNode(node);
       return node;
     }
@@ -134,16 +134,16 @@ namespace hpp {
       Parent::addEdge(edge);
       const RoadmapNodePtr_t& f = static_cast <const RoadmapNodePtr_t> (edge->from());
       const RoadmapNodePtr_t& t = static_cast <const RoadmapNodePtr_t> (edge->to());
-      LeafConnectedCompPtr_t scf = f->symbolicComponent();
-      LeafConnectedCompPtr_t sct = t->symbolicComponent();
+      LeafConnectedCompPtr_t scf = f->leafConnectedComponent();
+      LeafConnectedCompPtr_t sct = t->leafConnectedComponent();
       scf->canReach(sct);
       if (scf->canMerge(sct)) {
         if (scf->nodes().size() > sct->nodes().size()) {
           scf->merge(sct);
-          symbolicCCs_.erase(sct);
+          leafCCs_.erase(sct);
         } else {
           sct->merge(scf);
-          symbolicCCs_.erase(scf);
+          leafCCs_.erase(scf);
         }
       }
     }
diff --git a/src/symbolic-planner.cc b/src/symbolic-planner.cc
index f0ae1b3c8467dba727976b9c317be031df4cef99..9e5cfd5fd65cdc8cd4603c8b366ac029472b560c 100644
--- a/src/symbolic-planner.cc
+++ b/src/symbolic-planner.cc
@@ -179,7 +179,7 @@ namespace hpp {
       // Get the roadmap and the symbolic components
       RoadmapPtr_t rdm = HPP_DYNAMIC_PTR_CAST(Roadmap, roadmap());
       HPP_ASSERT(rdm);
-      LeafConnectedCompList_t scs = sorted_list (rdm->symbolicComponents());
+      LeafConnectedCompList_t scs = sorted_list (rdm->leafConnectedComponents());
 
       core::Nodes_t newNodes;
       core::PathPtr_t path;
@@ -301,7 +301,7 @@ namespace hpp {
       HPP_START_TIMECOUNTER (chooseEdge);
       // This code should go into a NodeSelector derived class.
       WeighedLeafConnectedCompPtr_t wscPtr = HPP_DYNAMIC_PTR_CAST
-        (WeighedLeafConnectedComp, n_near->symbolicComponent());
+        (WeighedLeafConnectedComp, n_near->leafConnectedComponent());
       if (wscPtr) {
         WeighedLeafConnectedComp wsc = *wscPtr;
         value_type R = rand() / RAND_MAX;
@@ -528,12 +528,12 @@ namespace hpp {
       // results in similar weights for the symbolic components.
       const value_type weightInc = 1.3;
       const value_type weightDec = 0.99;
-      CastToWSC_ptr (oldWSC, near->symbolicComponent());
+      CastToWSC_ptr (oldWSC, near->leafConnectedComponent());
       CollisionValidationReportPtr_t colRep;
       switch (extend.status) {
         case SUCCESS:
           {
-            CastToWSC_ptr (newWSC, newN->symbolicComponent());
+            CastToWSC_ptr (newWSC, newN->leafConnectedComponent());
             switch (extend.info) {
               case SUCCESS:
                 // If the corresponding edge is a loop, no adjustment.