Move SupportState_t to privatepgtypes.h

Reinforce policy to not externalize internal types.
This will help contributors by allowing internal
changes without impacting users.

include/walkGenJrl/PGTypes.h

@@ -169,14 +169,5 @@ namespace PatternGeneratorJRL
   };
   typedef struct ReferenceAbsoluteVelocity_t ReferenceAbsoluteVelocity;
 
-  // State of the support
-  struct SupportState_s
-  {
-    int Phase, Foot, StepsLeft, StepNumber;
-    bool SSSS, StateChanged;
-    double TimeLimit;
-  };
-  typedef struct SupportState_s SupportState_t;
-
 };
 #endif

src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h

@@ -43,12 +43,14 @@
 
 
 #include <PGTypes.h>
+#include <privatepgtypes.h>
 #include <Mathematics/ConvexHull.h>
 #include <SimplePlugin.h>
 #include <PreviewControl/SupportFSM.h>
 
 namespace PatternGeneratorJRL
 {
+  
   /*! This class generates matrix representation of linear
    constraint based on foot position.
    It handles a stack of constraint on a sliding mode 

src/PreviewControl/SupportFSM.h

@@ -28,6 +28,7 @@
 #define _SUPPORT_FSM_
 
 #include <walkGenJrl/PGTypes.h>
+#include <privatepgtypes.h>
 
 namespace PatternGeneratorJRL
 {

src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h

@@ -45,6 +45,7 @@
 
 namespace PatternGeneratorJRL
 {
+
   class ZMPDiscretization;
   class  ZMPVelocityReferencedQP : public ZMPRefTrajectoryGeneration
   {

src/privatepgtypes.h

+/*
+ * Copyright 2010,
+ *
+ * Olivier  Stasse
+ *
+ * JRL, CNRS/AIST
+ *
+ * This file is part of walkGenJrl.
+ * walkGenJrl is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * walkGenJrl is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Lesser Public License for more details.
+ * You should have received a copy of the GNU Lesser General Public License
+ * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
+ *
+ *  Research carried out within the scope of the
+ *  Joint Japanese-French Robotics Laboratory (JRL)
+ */
+/*! \file PGTypes.h
+  \brief Defines basic types for the Humanoid Walking Pattern Generator.
+*/
+
+#ifndef _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
+#define  _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_
+
+// For Windows compatibility.
+#if defined (WIN32)
+#  ifdef walkGenJrl_EXPORTS
+#    define WALK_GEN_JRL_EXPORT __declspec(dllexport)
+#  else
+#    define WALK_GEN_JRL_EXPORT __declspec(dllimport)
+#  endif
+#else
+#  define WALK_GEN_JRL_EXPORT
+#endif
+namespace PatternGeneratorJRL
+{
+
+  // State of the support
+  struct SupportState_s
+  {
+    int Phase, Foot, StepsLeft, StepNumber;
+    bool SSSS, StateChanged;
+    double TimeLimit;
+  };
+  typedef struct SupportState_s SupportState_t;
+};
+
+#endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */