diff --git a/src/Math/include/BipedalLocomotion/Math/LinearizedFrictionCone.h b/src/Math/include/BipedalLocomotion/Math/LinearizedFrictionCone.h
index ce13425bc4..e25c8eff04 100644
--- a/src/Math/include/BipedalLocomotion/Math/LinearizedFrictionCone.h
+++ b/src/Math/include/BipedalLocomotion/Math/LinearizedFrictionCone.h
@@ -49,7 +49,7 @@ class LinearizedFrictionCone
      * | `static_friction_coefficient`   | `double`  |        Static friction coefficient.     |
      * @return true in case of success/false otherwise.
      */
-    bool initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler);
+    bool initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler);
 
     /**
      * Get the matrix A.
diff --git a/src/Math/src/LinearizedFrictionCone.cpp b/src/Math/src/LinearizedFrictionCone.cpp
index 58bb4622c5..d043a5fe55 100644
--- a/src/Math/src/LinearizedFrictionCone.cpp
+++ b/src/Math/src/LinearizedFrictionCone.cpp
@@ -12,7 +12,7 @@
 
 using namespace BipedalLocomotion::Math;
 
-bool LinearizedFrictionCone::initialize(std::weak_ptr<ParametersHandler::IParametersHandler> handler)
+bool LinearizedFrictionCone::initialize(std::weak_ptr<const ParametersHandler::IParametersHandler> handler)
 {
     constexpr auto errorPrefix = "[LinearizedFrictionCone::initialize]";