New type and type methods

- Add constructor, reset() and operator= to support_state_s
- Add solution type

src/privatepgtypes.cpp

@@ -27,6 +27,38 @@
 namespace PatternGeneratorJRL
 {
 
+  struct support_state_s & support_state_t::operator =(const support_state_s & aSS)
+  {
+    for(unsigned int i=0;i<3;i++)
+      {
+        Phase  = aSS.Phase;
+        Foot  = aSS.Foot;
+        StepsLeft  = aSS.StepsLeft;
+        TimeLimit = aSS.TimeLimit;
+        StepNumber  = aSS.StepNumber;
+      };
+    return *this;
+  }
+
+  void support_state_t::reset()
+  {
+    for(int i=0;i<3;i++)
+      {
+        Phase  = 0;
+        Foot  = 0;
+        StepsLeft  = 0;
+        TimeLimit = 0.0;
+        StepNumber  = 0;
+        SSSS = StateChanged = false;
+      }
+  }
+
+  support_state_s::support_state_s()
+  {
+    reset();
+  }
+
+
   struct com_s & com_t::operator=(const com_s &aCS)
   {
     for(unsigned int i=0;i<3;i++)

src/privatepgtypes.h

@@ -40,6 +40,12 @@ namespace PatternGeneratorJRL
     int Phase, Foot, StepsLeft, StepNumber;
     bool SSSS, StateChanged;
     double TimeLimit;
+
+    struct support_state_s & operator = (const support_state_s &aSS);
+
+    void reset();
+
+    support_state_s();
   };
   typedef struct support_state_s support_state_t;
 
@@ -106,6 +112,26 @@ namespace PatternGeneratorJRL
   };
   typedef struct reference_s reference_t;
 
+  struct solution_s
+  {
+    /// \brief whole solution array
+    double * array;
+
+    struct vector_s
+    {
+      MAL_VECTOR(X,double);
+      MAL_VECTOR(Y,double);
+
+      /// \brief First and last elements of vector in array
+      int first, last;
+    };
+    typedef struct vector_s vector_t;
+
+    vector_t jerk, footpos;
+
+  };
+  typedef struct solution_s solution_t;
+
 }
 
 #endif /* _PATTERN_GENERATOR_INTERNAL_PRIVATE_H_ */