diff --git a/src/inverse-kinematics/src/InverseKinematics.cpp b/src/inverse-kinematics/src/InverseKinematics.cpp
index e93f25d402f..7266c62a328 100644
--- a/src/inverse-kinematics/src/InverseKinematics.cpp
+++ b/src/inverse-kinematics/src/InverseKinematics.cpp
@@ -375,6 +375,9 @@ namespace iDynTree {
         IK_PIMPL(m_pimpl)->m_comHullConstraint_yAxisOfPlaneInWorld = yAxisOfPlaneInWorld;
         IK_PIMPL(m_pimpl)->m_comHullConstraint_originOfPlaneInWorld = originOfPlaneInWorld;
 
+        // If this method is called again to reconfigure the constraint, the problem needs to be reinitialized
+        IK_PIMPL(m_pimpl)->m_problemInitialized = false;
+
         return true;
     }
 
diff --git a/src/inverse-kinematics/src/InverseKinematicsData.cpp b/src/inverse-kinematics/src/InverseKinematicsData.cpp
index 71b26fe9a95..3132e653c20 100644
--- a/src/inverse-kinematics/src/InverseKinematicsData.cpp
+++ b/src/inverse-kinematics/src/InverseKinematicsData.cpp
@@ -181,6 +181,10 @@ namespace kinematics {
 
         //add the constraint to the set
         std::pair<TransformMap::iterator, bool> result = m_constraints.insert(TransformMap::value_type(frameIndex, frameTransformConstraint));
+
+        // If this method is called again to reconfigure the constraint, the problem needs to be reinitialized
+        IK_PIMPL(m_pimpl)->m_problemInitialized = false;
+
         return result.second;
     }
 
@@ -195,6 +199,10 @@ namespace kinematics {
         if (result.second) {
             result.first->second.setTargetResolutionMode(m_defaultTargetResolutionMode);
         }
+
+        // If this method is called again to reconfigure the constraint, the problem needs to be reinitialized
+        IK_PIMPL(m_pimpl)->m_problemInitialized = false;
+
         return result.second;
     }