import { RigidBody4 } from './rigid-body4.js';
import { RigidTrajectory4 } from './rigid-trajectory4.js';
/** One frozen Lie-midpoint pose segment for a dynamic R4 body. */
export interface RigidBodyPosePlan4 {
    readonly body: RigidBody4;
    readonly duration: number;
    readonly trajectory: RigidTrajectory4;
}
/**
 * Plans the exact constant-generator segment used by ordinary pose advancement.
 * Momentum and velocity are sampled now; applying the plan never recomputes them.
 */
export declare function planRigidBodyPose4(body: RigidBody4, duration: number): RigidBodyPosePlan4;
/** Applies an absolute normalized sample of a previously frozen pose plan. */
export declare function applyRigidBodyPosePlan4(plan: RigidBodyPosePlan4, time: number): RigidBody4;
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