diff --git a/src/pyhpp/manipulation/path-planner.cc b/src/pyhpp/manipulation/path-planner.cc
index fd5720e..89bc482 100644
--- a/src/pyhpp/manipulation/path-planner.cc
+++ b/src/pyhpp/manipulation/path-planner.cc
@@ -154,8 +154,17 @@ PathVectorPtr_t TransitionPlanner::timeParameterization(
   return trObj()->timeParameterization(path);
 }
 
+// deprecated
 void TransitionPlanner::setEdge(const PyWEdge& transition) {
   trObj()->setEdge(transition.obj);
+  boost::python::object warnings = boost::python::import("warnings");
+  warnings.attr("warn")(
+      "pyhpp.manipulation.TransitionPlanner.setEdge is deprecated. "
+      "Use setTransition instead.");
+}
+
+void TransitionPlanner::setTransition(const PyWEdge& transition) {
+  trObj()->setEdge(transition.obj);
 }
 
 void TransitionPlanner::setReedsAndSheppSteeringMethod(double turningRadius) {
@@ -248,7 +257,10 @@ void exposePathPlanners() {
            DocClassMethod(optimizePath))
       .def("timeParameterization", &TransitionPlanner::timeParameterization,
            DocClassMethod(timeParameterization))
-      .def("setEdge", &TransitionPlanner::setEdge, DocClassMethod(setEdge))
+      .def("setEdge", &TransitionPlanner::setEdge,
+           DocClassMethod(setEdge))  // deprecated
+      .def("setTransition", &TransitionPlanner::setTransition,
+           DocClassMethod(setEdge))
       .def("setReedsAndSheppSteeringMethod",
            &TransitionPlanner::setReedsAndSheppSteeringMethod,
            DocClassMethod(setReedsAndSheppSteeringMethod))
diff --git a/src/pyhpp/manipulation/path-planner.hh b/src/pyhpp/manipulation/path-planner.hh
index 5ca00a8..8d10095 100644
--- a/src/pyhpp/manipulation/path-planner.hh
+++ b/src/pyhpp/manipulation/path-planner.hh
@@ -61,6 +61,7 @@ struct TransitionPlanner : public pyhpp::core::PathPlanner {
   PathVectorPtr_t optimizePath(const PathPtr_t& path);
   PathVectorPtr_t timeParameterization(const PathVectorPtr_t& path);
   void setEdge(const PyWEdge& transition);
+  void setTransition(const PyWEdge& transition);
   void setReedsAndSheppSteeringMethod(double turningRadius);
   void pathProjector(const PathProjectorPtr_t pathProjector);
   void clearPathOptimizers();