diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index ad53938862435b4584b60e673a26677de624b36c..06b1855634bf23d271d0debb6679af20a51160e9 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -102,6 +102,10 @@ namespace hpp {
           /// Print the object in a stream.
           virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
 
+          /// Constraint to project onto the same leaf as config.
+          /// \return The initialized projector.
+          ConstraintSetPtr_t configConstraint() const;
+
         protected:
           /// Initialization of the object.
           void init (const EdgeWkPtr_t& weak, const GraphWkPtr_t& graph, const NodeWkPtr_t& from,
@@ -111,10 +115,6 @@ namespace hpp {
           Edge (const std::string& name,
 		const core::SteeringMethodPtr_t& steeringMethod);
 
-          /// Constraint to project onto the same leaf as config.
-          /// \return The initialized projector.
-          ConstraintSetPtr_t configConstraint() const;
-
           /// Constraint to project a path.
           /// \return The initialized constraint.
           ConstraintSetPtr_t pathConstraint() const;
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 4e6d9074ef0db227e1ca9a7eaa0bb8af4be51579..9a5a373aeacbf019c683fdb466d851f39738e20e 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -91,6 +91,9 @@ namespace hpp {
           /// Set the parent graph.
           void parentGraph(const GraphWkPtr_t& parent);
 
+          /// Set the parent graph.
+          GraphPtr_t parentGraph() const;
+
           /// Print the component in DOT language.
           virtual std::ostream& dotPrint (std::ostream& os, dot::DrawingAttributes da = dot::DrawingAttributes ()) const;
 
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 405462f54fd732577f4b6168e89ae40177b51510..b7b92cd30068dfb3c157539faa6aed8e50a8f4d9 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -117,6 +117,11 @@ namespace hpp {
         return lockedJoints_;
       }
 
+      GraphPtr_t GraphComponent::parentGraph() const
+      {
+        return graph_.lock ();
+      }
+
       void GraphComponent::parentGraph(const GraphWkPtr_t& parent)
       {
         graph_ = parent;