diff --git a/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp b/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
index 864c17135..6e885dea4 100644
--- a/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
+++ b/examples/SharedMemory/plugins/stablePDPlugin/RBDUtil.cpp
@@ -85,7 +85,7 @@ void cRBDUtil::SolveInvDyna(const cRBDModel& model, const Eigen::VectorXd& acc,
 		if (cKinTree::IsValidBody(body_defs, j))
 		{
 			cSpAlg::tSpVec curr_f = fs.row(j);
-			const const Eigen::Block<const Eigen::MatrixXd> S = model.GetJointSubspace(j);
+			const Eigen::Block<const Eigen::MatrixXd> S = model.GetJointSubspace(j);
 			Eigen::VectorXd curr_tau = S.transpose() * curr_f;
 
 			cKinTree::SetJointParams(joint_mat, j, curr_tau, out_tau);
@@ -1048,4 +1048,4 @@ void cRBDUtil::CalcGravityForce(const cRBDModel& model, Eigen::VectorXd& out_g_f
 			}
 		}
 	}
-}
\ No newline at end of file
+}