import { Object3D, Quaternion, Vector3 } from 'three';
export declare class URDFBase extends Object3D {
    urdfNode: any | null;
    urdfName: string;
    constructor();
    copy(source: URDFBase, recursive?: boolean): this;
}
export declare class URDFCollider extends URDFBase {
    isURDFCollider: boolean;
    type: string;
    constructor();
}
export declare class URDFVisual extends URDFBase {
    isURDFVisual: boolean;
    type: string;
    constructor();
}
export declare class URDFLink extends URDFBase {
    isURDFLink: boolean;
    type: string;
    constructor();
}
export type JointType = 'fixed' | 'continuous' | 'revolute' | 'prismatic' | 'planar' | 'floating';
export interface JointLimit {
    lower: number;
    upper: number;
}
export declare class URDFJoint extends URDFBase {
    isURDFJoint: boolean;
    type: string;
    private _jointType;
    jointValue: number[] | null;
    axis: Vector3;
    limit: JointLimit;
    ignoreLimits: boolean;
    origPosition: Vector3 | null;
    origQuaternion: Quaternion | null;
    mimicJoints: URDFJoint[];
    constructor();
    get jointType(): JointType;
    set jointType(v: JointType);
    get angle(): number;
    copy(source: URDFJoint, recursive?: boolean): this;
    /**
     * Sets the joint value components.
     * @param values The joint value components to set, optionally null for no-op
     * @returns Whether the joint value was updated
     */
    setJointValue(...values: (number | null)[]): boolean;
}
export declare class URDFMimicJoint extends URDFJoint {
    type: string;
    mimicJoint: URDFJoint | JointType | null;
    offset: number;
    multiplier: number;
    constructor();
    /**
     * Updates the joint value based on a mimicked joint's values.
     * @param values The values from the mimicked joint
     * @returns Whether the joint value was updated
     */
    updateFromMimickedJoint(...values: number[]): boolean;
    copy(source: URDFMimicJoint, recursive?: boolean): this;
}
export interface URDFRobotFrames {
    [key: string]: URDFBase;
}
export declare class URDFRobot extends URDFLink {
    isURDFRobot: boolean;
    urdfNode: any | null;
    urdfRobotNode: any | null;
    robotName: string | null;
    links: {
        [key: string]: URDFLink;
    } | null;
    joints: {
        [key: string]: URDFJoint;
    } | null;
    colliders: {
        [key: string]: URDFCollider;
    } | null;
    visual: {
        [key: string]: URDFVisual;
    } | null;
    frames: URDFRobotFrames;
    constructor();
    copy(source: URDFRobot, recursive?: boolean): this;
    getFrame(name: string): URDFBase | undefined;
    /**
     * Sets the value of a specific joint.
     * @param jointName The name of the joint
     * @param angle The angle or position values to set
     * @returns Whether the joint value was updated
     */
    setJointValue(jointName: string, ...angle: number[]): boolean;
    /**
     * Sets multiple joint values.
     * @param values An object mapping joint names to their respective values
     * @returns Whether any joint values were updated
     */
    setJointValues(values: {
        [name: string]: number | number[];
    }): boolean;
}