import { BivectorN, TransformN, VecN } from '@holotope/core';
export interface RigidTrajectory4Options {
    readonly start: TransformN;
    /** Complete translation over normalized time `[0,1]`. */
    readonly linearDisplacement: VecN | ArrayLike<number>;
    /** World-left exponential generator over normalized time `[0,1]`. */
    readonly angularDisplacementWorld: BivectorN | ArrayLike<number>;
}
/** Explicit constant-generator R4 screw trajectory over normalized time. */
export declare class RigidTrajectory4 {
    readonly start: TransformN;
    readonly linearDisplacement: VecN;
    readonly angularDisplacementWorld: BivectorN;
    private readonly startRotor;
    constructor(options: RigidTrajectory4Options);
    poseAt(time: number): TransformN;
    /** Bound on any pivot-relative material point with norm at most `radius`. */
    pointSpeedBound(radius: number): number;
}
/**
 * Builds the principal constant-generator screw segment between two R4 poses.
 * A relative central inversion is refused because the endpoints do not select
 * a unique SO(4) logarithm; callers must subdivide or author the generator.
 */
export declare function rigidTrajectoryFromTransforms4(start: TransformN, end: TransformN): RigidTrajectory4;
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