diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 07f2cd9feb75a7f512c6f9bdc9e15da05b154d17..82c9e63cecc7dbf385cd35e9eccafde574a67064 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -73,7 +73,7 @@ namespace hpp {
           ConfigurationPtr_t q_new (new Configuration_t
               ((*path) (t_final)));
           if (!pathIsValid || !belongs (q_new, newNodes)) {
-            newNodes.push_back (roadmap ()->addNodeAndEdge
+            newNodes.push_back (roadmap ()->addNodeAndEdges
                 (near, q_new, path));
           } else {
             core::NodePtr_t newNode = roadmap ()->addNode (q_new);