Extend PatternGeneratorInterface with one argument.

src/PatternGeneratorInterfacePrivate.cpp

@@ -1211,6 +1211,20 @@ bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
   return m_Running;
 }
 
+bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
+      ControlLoopOneStepArgs &aControlLoopOneStepArgs) {
+
+   return RunOneStepOfTheControlLoop(
+       aControlLoopOneStepArgs.CurrentConfiguration,
+       aControlLoopOneStepArgs.CurrentVelocity,
+       aControlLoopOneStepArgs.CurrentAcceleration,
+       aControlLoopOneStepArgs.ZMPTarget,
+       aControlLoopOneStepArgs.finalCOMState,
+       aControlLoopOneStepArgs.LeftFootPosition,
+       aControlLoopOneStepArgs.RightFootPosition);
+
+}
+
 bool PatternGeneratorInterfacePrivate::RunOneStepOfTheControlLoop(
     Eigen::VectorXd &CurrentConfiguration, Eigen::VectorXd &CurrentVelocity,
     Eigen::VectorXd &CurrentAcceleration, Eigen::VectorXd &ZMPTarget,