Revert "Move to privatepgtypes"

This reverts commit 1e8102d9.

include/jrl/walkgen/pgtypes.hh

@@ -137,6 +137,15 @@ 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