diff --git a/include/hpp/manipulation/problem.hh b/include/hpp/manipulation/problem.hh
index b827071c65c56b911ce476ae5c965ab5cb4e3691..ab624ac1842e9e467a19fce33714d82cf236e443 100644
--- a/include/hpp/manipulation/problem.hh
+++ b/include/hpp/manipulation/problem.hh
@@ -57,12 +57,7 @@ namespace hpp {
         void pathValidation (const PathValidationPtr_t& pathValidation);
 
         /// Get the steering method as a SteeringMethod
-        SteeringMethodPtr_t steeringMethod () const;
-
-        void steeringMethod (core::SteeringMethodPtr_t sm)
-        {
-          Parent::steeringMethod (sm);
-        }
+        SteeringMethodPtr_t manipulationSteeringMethod () const;
 
         /// Build a new path validation
         /// \note Current obstacles are added to the created object.
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index e2acc46dd70cde95011c3871a286746a0efb0a63..ffda441963529454c9dead496a8906796400865e 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -279,7 +279,7 @@ namespace hpp {
 
         // Build steering method
         const ProblemPtr_t& problem (g->problem());
-        steeringMethod_ = problem->steeringMethod()->innerSteeringMethod()->copy();
+        steeringMethod_ = problem->manipulationSteeringMethod()->innerSteeringMethod()->copy();
         steeringMethod_->constraints (constraint);
         // Build path validation and relative motion matrix
         // TODO this path validation will not contain obstacles added after
diff --git a/src/problem.cc b/src/problem.cc
index 8d98825315e5983c93a61bb9a2647153529c6a56..002e0b0a468ec00acb51612d95b98279f0a6d097 100644
--- a/src/problem.cc
+++ b/src/problem.cc
@@ -84,7 +84,7 @@ namespace hpp {
       return pv;
     }
 
-    SteeringMethodPtr_t Problem::steeringMethod () const
+    SteeringMethodPtr_t Problem::manipulationSteeringMethod () const
     {
       return HPP_DYNAMIC_PTR_CAST (SteeringMethod,
           Parent::steeringMethod());