diff --git a/include/core/math/SE3.h b/include/core/math/SE3.h
index 79db282a20d91648b2f965d1b057dbb3b92cf324..685eefabaccf1d0585ec7de7d73c9d4ba2e1ff8d 100644
--- a/include/core/math/SE3.h
+++ b/include/core/math/SE3.h
@@ -399,8 +399,8 @@ inline VectorComposite plus(const VectorComposite& x, const VectorComposite& tau
 {
     VectorComposite res;
 
-    res['P'] = Vector3d();
-    res['O'] = Vector4d();
+    res['P'] = Vector3d::Zero();
+    res['O'] = Vector4d::Zero();
 
     plus(x, tau, res);