import { Object3D, LoadingManager } from 'three';
import { URDFRobot } from './URDFClasses';
/**
 * Processes a string tuple into a number array.
 * @param val - A string containing three space-separated numbers.
 * @returns An array of three numbers.
 */
export declare function processTuple(val: string | null | undefined): [number, number, number];
/**
 * Applies a rotation to a js object in URDF order.
 * @param obj - The js object to rotate.
 * @param rpy - An array containing roll, pitch, and yaw angles.
 * @param additive - If true, the rotation is additive.
 */
export declare function applyRotation(obj: Object3D, rpy: [number, number, number], additive?: boolean): void;
/**
 * Loads and parses a URDF file into a js Object3D format.
 */
export declare class URDFLoader {
    manager: LoadingManager;
    loadMeshCb: (path: string, manager: LoadingManager, done: (obj: Object3D | null, err?: any) => void) => void;
    parseVisual: boolean;
    parseCollision: boolean;
    packages: string | ((pkg: string) => string) | Record<string, string>;
    workingPath: string;
    fetchOptions: RequestInit;
    constructor(manager?: LoadingManager);
    /**
     * Asynchronously loads a URDF file.
     * @param urdf - The path to the URDF file.
     * @returns A promise that resolves to a URDFRobot object.
     */
    loadAsync(urdf: string): Promise<URDFRobot>;
    /**
     * Loads a URDF file.
     * @param urdf - The path to the URDF file.
     * @param onComplete - Callback invoked upon successful load.
     * @param onProgress - Callback invoked to report progress.
     * @param onError - Callback invoked upon error.
     */
    load(urdf: string, onComplete: (model: URDFRobot) => void, onProgress?: (event: ProgressEvent | null) => void, onError?: (e: any) => void): void;
    /**
     * Parses URDF content into a URDFRobot object.
     * @param content - The URDF content as a string, Document, or Element.
     * @returns A URDFRobot object.
     */
    parse(content: string | Document | Element): URDFRobot;
    /**
     * Default mesh loading function.
     * @param path - The path to the mesh file.
     * @param manager - The LoadingManager instance.
     * @param done - Callback invoked upon completion.
     */
    private defaultMeshLoader;
}