diff --git a/src/solver-dyn-reduced.cpp b/src/solver-dyn-reduced.cpp
index e271cf5a7c3faf4da42afc0971277b20501e9275..b69b2dcda5dae58041136ebf79c81e4b3e112a23 100644
--- a/src/solver-dyn-reduced.cpp
+++ b/src/solver-dyn-reduced.cpp
@@ -14,7 +14,7 @@
  * with sot-dyninv.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VP_DEBUG
+//#define VP_DEBUG
 #define VP_DEBUG_MODE 50
 #include <sot/core/debug.hh>
 #ifdef VP_DEBUG
@@ -371,6 +371,12 @@ namespace dynamicgraph
 	  }
       }
 
+      SolverDynReduced::matrixSINPtr SolverDynReduced::getSupportSIN( const std::string & contacName )
+      {
+	return contactMap[contacName].supportSIN;
+      }
+
+
 
       /* --- INIT SOLVER ------------------------------------------------------ */
       /* --- INIT SOLVER ------------------------------------------------------ */
diff --git a/src/solver-dyn-reduced.h b/src/solver-dyn-reduced.h
index a4a99696539619db84447393698e29e7622d3845..7d51de0994bfed7e0399be1231e1053c9bbcd2c5 100644
--- a/src/solver-dyn-reduced.h
+++ b/src/solver-dyn-reduced.h
@@ -153,6 +153,8 @@ namespace dynamicgraph {
 	  void removeContact( const std::string & name );
 	  void dispContacts( std::ostream& os ) const;
 
+	  matrixSINPtr getSupportSIN( const std::string & contacName );
+
 
 	public: /* --- COMMANDS --- */
 	  void debugOnce( void );