diff --git a/include/walkGenJrl/PGTypes.h b/include/walkGenJrl/PGTypes.h
index 8159e86e2fc611495bae935f1f4968dd0beebc5a..4fb88c8d3fa58c8982ed9cf9b58ba837ec1b6ff5 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