diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 150195bb2813c49bc1e6d5640eac738e46f43875..b358538e223dd744109235355eac946dfc3bb0d1 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -59,15 +59,6 @@ namespace hpp {
       HPP_DEFINE_TIMECOUNTER(buildPath);
       HPP_DEFINE_TIMECOUNTER(projectPath);
       HPP_DEFINE_TIMECOUNTER(validatePath);
-
-      bool belongs (const ConfigurationPtr_t& q, const core::Nodes_t& nodes)
-      {
-        for (core::Nodes_t::const_iterator itNode = nodes.begin ();
-            itNode != nodes.end (); ++itNode) {
-          if (*((*itNode)->configuration ()) == *q) return true;
-        }
-        return false;
-      }
     }
 
     const std::vector<ManipulationPlanner::Reason>
diff --git a/src/symbolic-planner.cc b/src/symbolic-planner.cc
index fc20f772639127b77d45e4577b52e3da5680152e..9b9d26897782520065155a12db69aaf49e39778a 100644
--- a/src/symbolic-planner.cc
+++ b/src/symbolic-planner.cc
@@ -109,15 +109,6 @@ namespace hpp {
           }
         }
       };
-
-      bool belongs (const ConfigurationPtr_t& q, const core::Nodes_t& nodes)
-      {
-        for (core::Nodes_t::const_iterator itNode = nodes.begin ();
-            itNode != nodes.end (); ++itNode) {
-          if (*((*itNode)->configuration ()) == *q) return true;
-        }
-        return false;
-      }
     }
 
     const std::vector<SymbolicPlanner::Reason>