diff --git a/include/curves/bezier_curve.h b/include/curves/bezier_curve.h
index 2e439dcc212fd3cc80b61caf008dde6e140f98a3..56210193005728412381f4faaf3966de25f41005 100644
--- a/include/curves/bezier_curve.h
+++ b/include/curves/bezier_curve.h
@@ -348,12 +348,14 @@ struct bezier_curve : public curve_abc<Time, Numeric, Dim, Safe, Point>
     t_point_t add_constraints(In PointsBegin, In PointsEnd, const curve_constraints_t& constraints)
     {
         t_point_t res;
+        num_t T = T_max_ - T_min_;
+        num_t T_square = T*T;
         point_t P0, P1, P2, P_n_2, P_n_1, PN;
         P0 = *PointsBegin; PN = *(PointsEnd-1);
-        P1    = P0+ constraints.init_vel / (num_t)degree_;
-        P_n_1 = PN -constraints.end_vel  / (num_t)degree_;
-        P2    = constraints.init_acc / (num_t)(degree_ * (degree_-1)) + 2* P1    - P0;
-        P_n_2 = constraints.end_acc  / (num_t)(degree_ * (degree_-1)) + 2* P_n_1 - PN;
+        P1    = P0+ constraints.init_vel * T / (num_t)degree_;
+        P_n_1 = PN- constraints.end_vel * T / (num_t)degree_;
+        P2    = constraints.init_acc * T_square / (num_t)(degree_ * (degree_-1)) + 2* P1    - P0;
+        P_n_2 = constraints.end_acc * T_square / (num_t)(degree_ * (degree_-1)) + 2* P_n_1 - PN;
 
         res.push_back(P0);
         res.push_back(P1);
diff --git a/tests/Main.cpp b/tests/Main.cpp
index e20739055f4825026d6fcbf4a5faaa1bb8f8103e..fc3b4d8c8fb4aabfe81b1f978030f1fe79ae312f 100644
--- a/tests/Main.cpp
+++ b/tests/Main.cpp
@@ -438,20 +438,22 @@ void BezierDerivativeCurveConstraintTest(bool& error)
     std::vector<point_t> params;
     params.push_back(a);
     params.push_back(b);
-
     params.push_back(c);
-    bezier_curve_t cf3(params.begin(), params.end(), constraints);
-
-    assert(cf3.degree_ == params.size() + 3);
-    assert(cf3.size_   == params.size() + 4);
-
-    ComparePoints(a, cf3(0), errMsg, error);
-    ComparePoints(c, cf3(1), errMsg, error);
-    ComparePoints(constraints.init_vel, cf3.derivate(0.,1), errMsg, error);
-    ComparePoints(constraints.end_vel , cf3.derivate(1.,1), errMsg, error);
-    ComparePoints(constraints.init_acc, cf3.derivate(0.,2), errMsg, error);
-    ComparePoints(constraints.end_vel, cf3.derivate(1.,1), errMsg, error);
-    ComparePoints(constraints.end_acc, cf3.derivate(1.,2), errMsg, error);
+
+    bezier_curve_t::num_t T_min = 1.0;
+    bezier_curve_t::num_t T_max = 3.0;
+    bezier_curve_t cf(params.begin(), params.end(), constraints, T_min, T_max);
+
+    assert(cf.degree_ == params.size() + 3);
+    assert(cf.size_   == params.size() + 4);
+
+    ComparePoints(a, cf(T_min), errMsg, error);
+    ComparePoints(c, cf(T_max), errMsg, error);
+    ComparePoints(constraints.init_vel, cf.derivate(T_min,1), errMsg, error);
+    ComparePoints(constraints.end_vel , cf.derivate(T_max,1), errMsg, error);
+    ComparePoints(constraints.init_acc, cf.derivate(T_min,2), errMsg, error);
+    ComparePoints(constraints.end_vel, cf.derivate(T_max,1), errMsg, error);
+    ComparePoints(constraints.end_acc, cf.derivate(T_max,2), errMsg, error);
 }
 
 
@@ -480,8 +482,8 @@ void toPolynomialConversionTest(bool& error)
     control_points.push_back(h);
     control_points.push_back(i);
 
-    double T_min = 1.0;
-    double T_max = 3.0;
+    bezier_curve_t::num_t T_min = 1.0;
+    bezier_curve_t::num_t T_max = 3.0;
     bezier_curve_t bc(control_points.begin(), control_points.end(),T_min, T_max);
     polynomial_t pol = polynomial_from_curve<polynomial_t, bezier_curve_t>(bc);
     compareCurves<polynomial_t, bezier_curve_t>(pol, bc, errMsg, error);