diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index a7314ea42dad02b780e189f2476a0eb8ba3a85da..9d1b67c7916c827b621c566eb6ee1e6d642f5077 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -201,6 +201,20 @@ namespace hpp {
 	    (ConfigurationIn_t leafConfig, ConfigurationIn_t config,
 	     const EdgePtr_t& edge, vector_t& error) const;
 
+	  /// Get error of a config with respect to the target of an edge foliation leaf
+	  ///
+	  /// \param leafConfig Configuration that determines the foliation leaf
+	  /// \param config Configuration the error of which is computed
+	  /// \retval error the error
+	  /// \return whether config can be the end point of a path of the edge
+	  ///         starting at leafConfig
+	  /// Call methods core::ConfigProjector::rightHandSideFromConfig with
+	  /// leafConfig and then core::ConstraintSet::isSatisfied with config.
+	  /// on the edge constraints.
+	  bool getConfigErrorForEdgeTarget
+	    (ConfigurationIn_t leafConfig, ConfigurationIn_t config,
+	     const EdgePtr_t& edge, vector_t& error) const;
+
           /// Constraint to project a path.
           /// \param edge a list of edges defining the foliation.
           /// \return The constraint.
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index 7d397a98e0dbb0495093f0ce5c9d2b61be1932a1..f50d5af9ecc974bcf573adcd467c6b7759a3b7c2 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -204,6 +204,16 @@ namespace hpp {
 	return cs->isSatisfied (config, error);
       }
 
+      bool Graph::getConfigErrorForEdgeTarget
+      (ConfigurationIn_t leafConfig, ConfigurationIn_t config,
+       const EdgePtr_t& edge, vector_t& error) const
+      {
+	ConstraintSetPtr_t cs (configConstraint (edge));
+	ConfigProjectorPtr_t cp (cs->configProjector ());
+	if (cp) cp->rightHandSideFromConfig (leafConfig);
+	return cs->isSatisfied (config, error);
+      }
+
       bool Graph::getConfigErrorForEdgeLeaf
       (ConfigurationIn_t leafConfig, ConfigurationIn_t config,
        const EdgePtr_t& edge, vector_t& error) const