diff --git a/src/steering-method/end-effector-trajectory.cc b/src/steering-method/end-effector-trajectory.cc
index 3825b02534d06ee3f8fcd50f88a91cece5a17e9d..f452c3926e7cce6e7925837c3cb73430294c30a2 100644
--- a/src/steering-method/end-effector-trajectory.cc
+++ b/src/steering-method/end-effector-trajectory.cc
@@ -41,7 +41,7 @@ namespace hpp {
         {
           public:
             FunctionFromPath (const PathPtr_t& p)
-              : DifferentiableFunction (1, 1, SE3 ? LiegroupSpace::SE3() : LiegroupSpace::Rn(p->outputSize())),
+              : DifferentiableFunction (1, 1, SE3 ? LiegroupSpace::R3xSO3() : LiegroupSpace::Rn(p->outputSize())),
               path_ (p)
             {
               assert (!SE3 ||