diff --git a/CMakeLists.txt b/CMakeLists.txt
index a57a561cf4f28ccfa273995888ad1ca4d4d10884..d2ec3a4ddf6c3113fa66c6ecc73d6fe87f346701 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,7 +77,6 @@ SET (${PROJECT_NAME}_HEADERS
   include/hpp/manipulation/manipulation-planner.hh
   include/hpp/manipulation/graph-path-validation.hh
   include/hpp/manipulation/graph-optimizer.hh
-  include/hpp/manipulation/graph/node.hh
   include/hpp/manipulation/graph/state.hh
   include/hpp/manipulation/graph/edge.hh
   include/hpp/manipulation/graph/node-selector.hh
diff --git a/include/hpp/manipulation/graph/edge.hh b/include/hpp/manipulation/graph/edge.hh
index 926708f0a079f64b716543cf8c5d3956e74b23f5..ca229eed15173aed4a1118b3ec8f53abd9abdf72 100644
--- a/include/hpp/manipulation/graph/edge.hh
+++ b/include/hpp/manipulation/graph/edge.hh
@@ -310,9 +310,6 @@ namespace hpp {
           void insertParamConstraint (const ImplicitPtr_t& nm,
               const segments_t& passiveDofs = segments_t ());
 
-          void insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq)
-            HPP_MANIPULATION_DEPRECATED;
-
           /// Insert a LockedJoint that parametrizes the foliation
           void insertParamConstraint (const LockedJointPtr_t lockedJoint);
 
diff --git a/include/hpp/manipulation/graph/graph-component.hh b/include/hpp/manipulation/graph/graph-component.hh
index 493164a33465cde122f4184f9a4c19cc216f27b3..ac3e02a248a84f491df7e9e9f25c7500f9bba0d0 100644
--- a/include/hpp/manipulation/graph/graph-component.hh
+++ b/include/hpp/manipulation/graph/graph-component.hh
@@ -60,11 +60,6 @@ namespace hpp {
               const ImplicitPtr_t& numConstraint,
               const segments_t& passiveDofs = segments_t ());
 
-          /// Add core::DifferentiableFunction to the component.
-          virtual void addNumericalConstraint
-            (const DifferentiableFunctionPtr_t& function, const ComparisonTypes_t& ineq)
-            HPP_MANIPULATION_DEPRECATED;
-
 	  /// Reset the numerical constraints stored in the component.
 	  virtual void resetNumericalConstraints ();
 
diff --git a/include/hpp/manipulation/graph/node.hh b/include/hpp/manipulation/graph/node.hh
deleted file mode 100644
index 2a9421ef4693125a8bb4dbf3686b662bc81446bb..0000000000000000000000000000000000000000
--- a/include/hpp/manipulation/graph/node.hh
+++ /dev/null
@@ -1,32 +0,0 @@
-// Copyright (c) 2014, LAAS-CNRS
-// Authors: Joseph Mirabel (joseph.mirabel@laas.fr)
-//
-// This file is part of hpp-manipulation.
-// hpp-manipulation is free software: you can redistribute it
-// and/or modify it under the terms of the GNU Lesser General Public
-// License as published by the Free Software Foundation, either version
-// 3 of the License, or (at your option) any later version.
-//
-// hpp-manipulation is distributed in the hope that it will be
-// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-// General Lesser Public License for more details.  You should have
-// received a copy of the GNU Lesser General Public License along with
-// hpp-manipulation. If not, see <http://www.gnu.org/licenses/>.
-
-#ifndef HPP_MANIPULATION_GRAPH_NODE_HH
-# define HPP_MANIPULATION_GRAPH_NODE_HH
-
-# include <hpp/manipulation/graph/state.hh>
-
-namespace hpp {
-  namespace manipulation {
-    namespace graph {
-      typedef State Node HPP_MANIPULATION_DEPRECATED;
-      typedef boost::shared_ptr < Node > NodePtr_t;
-      typedef std::vector < NodePtr_t > Nodes_t;
-    } // namespace graph
-  } // namespace manipulation
-} // namespace hpp
-
-#endif // HPP_MANIPULATION_GRAPH_NODE_HH
diff --git a/src/graph/edge.cc b/src/graph/edge.cc
index 61373e3a6d893719944e3c3132005b81f6ebd045..ed590f1d8a357985867bb455327d0452fd1c8014 100644
--- a/src/graph/edge.cc
+++ b/src/graph/edge.cc
@@ -772,12 +772,6 @@ namespace hpp {
         paramPassiveDofs_.push_back (passiveDofs);
       }
 
-      void LevelSetEdge::insertParamConstraint (const DifferentiableFunctionPtr_t function, const ComparisonTypes_t ineq)
-      {
-        isInit_ = false;
-        insertParamConstraint (constraints::Implicit::create (function, ineq));
-      }
-
       void LevelSetEdge::insertParamConstraint (const LockedJointPtr_t lockedJoint)
       {
         isInit_ = false;
diff --git a/src/graph/graph-component.cc b/src/graph/graph-component.cc
index 2d58b330406234bc3e4f5b4e8a74b76ae8af5fa0..485e3f4e9bb7e2a0573e5e97e3b43e72963eb93c 100644
--- a/src/graph/graph-component.cc
+++ b/src/graph/graph-component.cc
@@ -59,11 +59,6 @@ namespace hpp {
         passiveDofs_.push_back (passiveDofs);
       }
 
-      void GraphComponent::addNumericalConstraint (const DifferentiableFunctionPtr_t& function, const ComparisonTypes_t& ineq)
-      {
-        addNumericalConstraint (Implicit::create (function,ineq));
-      }
-
       void GraphComponent::resetNumericalConstraints ()
       {
         isInit_ = false;