diff --git a/include/hpp/manipulation/graph/state.hh b/include/hpp/manipulation/graph/state.hh
index 62a4fa7c068787ceff41d1e92f7e309024452f5a..6e0a5008857e8e2c34246c20b9ace33e80e13372 100644
--- a/include/hpp/manipulation/graph/state.hh
+++ b/include/hpp/manipulation/graph/state.hh
@@ -100,6 +100,12 @@ namespace hpp {
             return neighbors_;
           }
 
+          /// Get the neighbors
+          Edges_t neighborEdges() const
+          {
+            return neighbors_.values();
+          }
+
           /// Get the hidden neighbors
           /// It is a vector of transitions outgoing from this state and that are
           /// included in a waypoint edge.