diff --git a/src/multibody/joint/joint-base.hpp b/src/multibody/joint/joint-base.hpp
index 23f31a6a2c563b91da54afd4e2a957b3c27661cc..44065fbfc635c380f04a953835ef3553ee1b7e8e 100644
--- a/src/multibody/joint/joint-base.hpp
+++ b/src/multibody/joint/joint-base.hpp
@@ -321,8 +321,8 @@ namespace se3
      *
      * @return     The corresponding distance
      */
-    double distance(const Eigen::VectorXd & q1,const Eigen::VectorXd & q2) const
-    { return derived().distance_impl(q1, q2); } 
+    double distance(const Eigen::VectorXd & q0,const Eigen::VectorXd & q1) const
+    { return derived().distance_impl(q0, q1); }
 
     JointIndex i_id; // ID of the joint in the multibody list.
     int i_q;    // Index of the joint configuration in the joint configuration vector.