/**
 * Follower P-controller ported from agenticros_follow_me/follower_controller.py.
 *
 * Given a target person's 3D position (x = lateral metres, z = depth metres),
 * compute a smoothed, deadzoned, clamped Twist command.
 */
export interface ControllerConfig {
    targetDistance: number;
    maxLinearVel: number;
    maxAngularVel: number;
    kpDistance: number;
    kpAngular: number;
    distanceDeadzone: number;
    angularDeadzone: number;
    smoothingFactor: number;
    watchdogTimeoutMs: number;
}
export declare const DEFAULT_CONTROLLER_CONFIG: ControllerConfig;
export interface Twist {
    linearX: number;
    angularZ: number;
}
export interface TargetSample {
    /** Lateral offset in metres (positive = right of camera centre). */
    x: number;
    /** Forward depth in metres. */
    z: number;
    confidence: number;
}
export declare class FollowerController {
    readonly config: ControllerConfig;
    private smoothedLinear;
    private smoothedAngular;
    private lastDetectionMs;
    private lastTwist;
    constructor(config?: Partial<ControllerConfig>);
    setTargetDistance(d: number): void;
    reset(): void;
    /** Compute next twist. Pass null when no person is detected this tick. */
    update(target: TargetSample | null): Twist;
    getLastTwist(): Twist;
}
//# sourceMappingURL=controller.d.ts.map