import type { Struct } from '@bufbuild/protobuf';
import type { Resource } from '../../types';
import type { Geometry } from '../../gen/common/v1/common_pb';
import type { GetKinematicsResult } from '../../utils';
/** Represents a physical gantry that exists in three-dimensional space. */
export interface Gantry extends Resource {
    /**
     * Get the geometries of the component in their current configuration.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Get the geometries of this component
     * const geometries = await gantry.getGeometries();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getgeometries).
     */
    getGeometries: (extra?: Struct) => Promise<Geometry[]>;
    /**
     * Get the kinematics information associated with the gantry.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Get the kinematics information associated with the gantry
     * const kinematics = await gantry.getKinematics();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getkinematics).
     *
     * @returns The legacy kinematics data shape or the newer object containing
     *   kinematics data plus a map of URDF mesh file paths to mesh data.
     */
    getKinematics: (extra?: Struct) => Promise<GetKinematicsResult>;
    /**
     * Move each axis of the gantry to the positionsMm at the speeds in
     * speedsMmPerSec.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Create positions for a 3-axis gantry
     * const positions = [1, 2, 3];
     * const speeds = [3, 9, 12];
     *
     * // Move the axes to the specified positions
     * await gantry.moveToPosition(positions, speeds);
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#movetoposition).
     *
     * @param positionsMm - The goal positions for each axis of the gantry.
     * @param speedsMmPerSec - The desired speed for each axis to move to the
     *   respective position in positionsMm.
     */
    moveToPosition: (positionsMm: number[], speedsMmPerSec: number[], extra?: Struct) => Promise<void>;
    /**
     * Get the current position of each axis.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Get the current positions of the axes in millimeters
     * const positions = await gantry.getPosition();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getposition).
     *
     * @returns A list of the current position of each axis in millimeters.
     */
    getPosition: (extra?: Struct) => Promise<number[]>;
    /**
     * Runs the homing sequence to find the start and end positions of the gantry
     * axis.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Run the homing sequence
     * const success = await gantry.home();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#home).
     *
     * @returns A bool representing whether the gantry has run the homing sequence
     *   successfully.
     */
    home: (extra?: Struct) => Promise<boolean>;
    /**
     * Get the lengths of the axes of the gantry in millimeters.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Get the lengths of the axes in millimeters
     * const lengths = await gantry.getLengths();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#getlengths).
     *
     * @returns A list of the length of each axis in millimeters.
     */
    getLengths: (extra?: Struct) => Promise<number[]>;
    /**
     * Stop the motion of the gantry.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Stop all motion of the gantry
     * await gantry.stop();
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#stop).
     */
    stop: (extra?: Struct) => Promise<void>;
    /**
     * Get if the gantry is currently moving.
     *
     * @example
     *
     * ```ts
     * const gantry = new VIAM.GantryClient(machine, 'my_gantry');
     *
     * // Check if the gantry is moving
     * const moving = await gantry.isMoving();
     * console.log('Moving:', moving);
     * ```
     *
     * For more information, see [Gantry
     * API](https://docs.viam.com/dev/reference/apis/components/gantry/#ismoving).
     */
    isMoving: () => Promise<boolean>;
}