Moved the new type SupportState_t to PGTypes.h

include/walkGenJrl/PGTypes.h

@@ -169,5 +169,14 @@ 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