diff --git a/include/hpp/manipulation/fwd.hh b/include/hpp/manipulation/fwd.hh
index bf933f7df188fb97cc3fd40edf0e61c1b8a48bfa..cc19d68783a693f88fa82fb6044a40a331be4609 100644
--- a/include/hpp/manipulation/fwd.hh
+++ b/include/hpp/manipulation/fwd.hh
@@ -90,6 +90,7 @@ namespace hpp {
     typedef core::ConfigurationShooter ConfigurationShooter;
     typedef core::ConfigurationShooterPtr_t ConfigurationShooterPtr_t;
     typedef core::ValidationReport ValidationReport;
+    typedef core::PathValidationReportPtr_t PathValidationReportPtr_t;
 
     typedef std::pair< GripperPtr_t, HandlePtr_t> Grasp_t;
     typedef boost::shared_ptr <Grasp_t> GraspPtr_t;
diff --git a/include/hpp/manipulation/graph-path-validation.hh b/include/hpp/manipulation/graph-path-validation.hh
index 661ecceeae38cdc0bbd2d845b5abb21afdebd79e..6c3dfc9da18294dbbb15eba1573103a90fb7c58a 100644
--- a/include/hpp/manipulation/graph-path-validation.hh
+++ b/include/hpp/manipulation/graph-path-validation.hh
@@ -50,7 +50,10 @@ namespace hpp {
       public:
         /// Check that the path is valid regarding the constraint graph and call
         /// the encapsulated PathValidation::validate.
-        bool validate (const PathPtr_t& path, bool reverse, PathPtr_t& validPart);
+        /// \deprecated Use the method that takes as input a reference to a
+        /// ValidationReportPtr_t instead.
+        bool validate (const PathPtr_t& path, bool reverse,
+		       PathPtr_t& validPart) HPP_MANIPULATION_DEPRECATED;
 
 	/// Call the GraphPathValidation::validate without validation report.
 	///
@@ -61,9 +64,27 @@ namespace hpp {
 	/// \retval report information about the validation process. unused in
 	///         this case,
 	/// \return whether the whole path is valid.
+        /// \deprecated Use the method that takes as input a reference to a
+        /// ValidationReportPtr_t instead.
 	virtual bool validate (const PathPtr_t& path, bool reverse,
 			       PathPtr_t& validPart,
-			       ValidationReport& report);
+			       ValidationReport& report)
+	  HPP_MANIPULATION_DEPRECATED;
+
+	/// Check that path is valid regarding the constraint graph.
+	///
+	/// \param path the path to check for validity,
+	/// \param reverse if true check from the end,
+	/// \retval the extracted valid part of the path, pointer to path if
+	///         path is valid,
+	/// \retval report information about the validation process. unused in
+	///         this case,
+	/// \return whether the whole path is valid.
+        ///
+        /// \notice Call the encapsulated PathValidation::validate.
+	virtual bool validate (const PathPtr_t& path, bool reverse,
+			       PathPtr_t& validPart,
+			       PathValidationReportPtr_t& report);
 
         /// Set the encapsulated path validator.
         void innerValidation (const PathValidationPtr_t& pathValidation)
diff --git a/src/graph-path-validation.cc b/src/graph-path-validation.cc
index 94a070ed8df0a0fb8eab39698ff13d8a5492c675..74646b667560257823d4e17ca1aaac67e714e722 100644
--- a/src/graph-path-validation.cc
+++ b/src/graph-path-validation.cc
@@ -47,6 +47,14 @@ namespace hpp {
       return impl_validate (path, reverse, validPart);
     }
 
+    bool GraphPathValidation::validate (const PathPtr_t& path, bool reverse,
+					PathPtr_t& validPart,
+					PathValidationReportPtr_t&)
+    {
+      assert (path);
+      return impl_validate (path, reverse, validPart);
+    }
+
     bool GraphPathValidation::impl_validate (
         const PathVectorPtr_t& path, bool reverse, PathPtr_t& validPart)
     {
@@ -95,7 +103,8 @@ namespace hpp {
         return impl_validate (pathVector, reverse, validPart);
 
       PathPtr_t pathNoCollision;
-      if (pathValidation_->validate (path, reverse, pathNoCollision)) {
+      PathValidationReportPtr_t report;
+      if (pathValidation_->validate (path, reverse, pathNoCollision, report)) {
         validPart = path;
         return true;
       }
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index b92c1404d04a9b05aee8194cd5955599927fd501..9bc5c030f7506807cea5cd1e0cbf1b843ad0983d 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -133,7 +133,8 @@ namespace hpp {
         }
       } else projPath = path;
       GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
-      pathValidation->validate (projPath, false, validPath);
+      PathValidationReportPtr_t report;
+      pathValidation->validate (projPath, false, validPath, report);
       if (validPath->length () == 0)
         addFailure (PATH_VALIDATION, edge);
       else {
@@ -190,7 +191,8 @@ namespace hpp {
             if (pathProjector) {
               if (!pathProjector->apply (path, projPath)) continue;
             } else projPath = path;
-            if (pathValidation->validate (projPath, false, validPath)) {
+	    PathValidationReportPtr_t report;
+            if (pathValidation->validate (projPath, false, validPath, report)) {
               roadmap ()->addEdge (*itn1, *itn2, projPath);
               core::interval_t timeRange = projPath->timeRange ();
               roadmap ()->addEdge (*itn2, *itn1, projPath->extract