diff --git a/include/OpenSoT/constraints/velocity/CollisionAvoidance.h b/include/OpenSoT/constraints/velocity/CollisionAvoidance.h
index 3be35480..794947a4 100644
--- a/include/OpenSoT/constraints/velocity/CollisionAvoidance.h
+++ b/include/OpenSoT/constraints/velocity/CollisionAvoidance.h
@@ -114,10 +114,10 @@ class CollisionAvoidance: public Constraint<Eigen::MatrixXd, Eigen::VectorXd>
     bool updateCollisionList(std::set<std::pair<std::string, std::string>> collisionList);
 
     /**
-     * @brief updateEnvironment must be called after a collision has been added or
-     * removed from the envronment
+     * @brief collisionModelUpdated must be called after a collision has been added or
+     * removed from the model
      */
-    void updateEnvironment();
+    void collisionModelUpdated();
 
     // TODO: waiting for world collision support !
     //
diff --git a/src/constraints/velocity/CollisionAvoidance.cpp b/src/constraints/velocity/CollisionAvoidance.cpp
index c9161f00..9c681375 100644
--- a/src/constraints/velocity/CollisionAvoidance.cpp
+++ b/src/constraints/velocity/CollisionAvoidance.cpp
@@ -182,7 +182,7 @@ bool CollisionAvoidance::updateCollisionList(std::set<std::pair<std::string, std
     }
 }
 
-void CollisionAvoidance::updateEnvironment()
+void CollisionAvoidance::collisionModelUpdated()
 {
     _lpv = _dist_calc->getCollisionPairs(_include_env);
 }