diff --git a/include/hpp/manipulation/graph/graph.hh b/include/hpp/manipulation/graph/graph.hh
index 6f3a1804fed00a59599220ffa83eebe397a2a2ea..0fc6144c6e506ba7df401ec07fd5b8dc1b039b6b 100644
--- a/include/hpp/manipulation/graph/graph.hh
+++ b/include/hpp/manipulation/graph/graph.hh
@@ -53,19 +53,19 @@ namespace hpp {
           /// Constraint to project onto the Nodes_t.
           /// \param the Nodes_t on which to project.
           /// \return The initialized projector.
-          virtual ConstraintPtr_t configConstraint (const Nodes_t& nodes);
+          virtual ConstraintSetPtr_t configConstraint (const Nodes_t& nodes);
 
           /// Constraint to project onto the same leaf as config.
           /// \param edges a list of edges defining the foliation.
           /// \param config Configuration that will initialize the projector.
           /// \return The initialized projector.
-          virtual ConstraintPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
+          virtual ConstraintSetPtr_t configConstraint (const Edges_t& edges, ConfigurationIn_t config);
 
           /// Constraint to project a path.
           /// \param edges a list of edges defining the foliation.
           /// \param config Configuration that will initialize the constraint.
           /// \return The initialized constraint.
-          virtual ConstraintPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
+          virtual ConstraintSetPtr_t pathConstraint (const Edges_t& edges, ConfigurationIn_t config);
 
           /// Return the NodeSelector with the given name if any,
           /// NULL pointer if not found.
diff --git a/src/graph/graph.cc b/src/graph/graph.cc
index a83dfebaf443355ed0259867bfa3e2b618333188..c64a4df216860b52488e58c1582f2ef0e19c2d8e 100644
--- a/src/graph/graph.cc
+++ b/src/graph/graph.cc
@@ -101,7 +101,7 @@ namespace hpp {
         return NodeSelectorPtr_t();
       }
 
-      ConstraintPtr_t Graph::configConstraint (const Nodes_t& nodes)
+      ConstraintSetPtr_t Graph::configConstraint (const Nodes_t& nodes)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());
 
@@ -120,7 +120,7 @@ namespace hpp {
         return constraint;
       }
 
-      ConstraintPtr_t Graph::configConstraint (const Edges_t& edges, ConfigurationIn_t config)
+      ConstraintSetPtr_t Graph::configConstraint (const Edges_t& edges, ConfigurationIn_t config)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());
 
@@ -144,7 +144,7 @@ namespace hpp {
         return constraint;
       }
 
-      ConstraintPtr_t Graph::pathConstraint (const Edges_t& edges, ConfigurationIn_t config)
+      ConstraintSetPtr_t Graph::pathConstraint (const Edges_t& edges, ConfigurationIn_t config)
       {
         ConstraintSetPtr_t constraint = ConstraintSet::create (robot (), name ());