diff --git a/include/walkGenJrl/PGTypes.h b/include/walkGenJrl/PGTypes.h
index f35cb63f9519d23b3134324678211ed440996c66..ca8e01e379898c7b8b2a4757242c757071668cc1 100644
--- a/include/walkGenJrl/PGTypes.h
+++ b/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
diff --git a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h b/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
index e7e5f2a34a9e80c33fa4f2ed9002a48d281386a4..95239f1c4f75c28af080320e3dff57625c8547c2 100644
--- a/src/Mathematics/FootConstraintsAsLinearSystemForVelRef.h
+++ b/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 
diff --git a/src/PreviewControl/SupportFSM.h b/src/PreviewControl/SupportFSM.h
index 2ed9e4586291889562ab68c5c005d2163b4d0cc2..afad1c20b7601dbcef8806d809f90d498892d785 100644
--- a/src/PreviewControl/SupportFSM.h
+++ b/src/PreviewControl/SupportFSM.h
@@ -28,6 +28,7 @@
 #define _SUPPORT_FSM_
 
 #include <walkGenJrl/PGTypes.h>
+#include <privatepgtypes.h>
 
 namespace PatternGeneratorJRL
 {
diff --git a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
index e496cded90edf3de42996f915e8db4286c05eb3c..af61c664a4e2007c141a99e2738de77b91974c5d 100644
--- a/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
+++ b/src/ZMPRefTrajectoryGeneration/ZMPVelocityReferencedQP.h
@@ -45,6 +45,7 @@
 
 namespace PatternGeneratorJRL
 {
+
   class ZMPDiscretization;
   class  ZMPVelocityReferencedQP : public ZMPRefTrajectoryGeneration
   {
diff --git a/src/privatepgtypes.h b/src/privatepgtypes.h
new file mode 100644
index 0000000000000000000000000000000000000000..269d82b1724f5a0a6f2a19f513153422d0383459
--- /dev/null
+++ b/src/privatepgtypes.h
@@ -0,0 +1,54 @@
+/*
+ * 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_ */