diff --git a/include/jrl/walkgen/pgtypes.hh b/include/jrl/walkgen/pgtypes.hh
index b34af62f409fba2566387fd33b8b8aabbba61ac9..5149a65e1978d650c107716599664a4a0d6d4f54 100644
--- a/include/jrl/walkgen/pgtypes.hh
+++ b/include/jrl/walkgen/pgtypes.hh
@@ -137,15 +137,6 @@ namespace PatternGeneratorJRL
   typedef struct LinearConstraintInequality_s
     LinearConstraintInequality_t;
 
-  /// Linear constraints with variable feet placement.
-  struct LinearConstraintInequalityFreeFeet_s
-  {
-    MAL_MATRIX(D,double);
-    MAL_MATRIX(Dc,double);
-    int StepNumber;
-  };
-  typedef struct LinearConstraintInequalityFreeFeet_s
-    LinearConstraintInequalityFreeFeet_t;
 
 }
 #endif