import { RobotCommandFeedbackStatus_Status } from "./basic_command";
import { ScalarTrajectory } from "./trajectory";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/**
 * The synchronized command message for commanding the gripper to move.
 * A synchronized commands is one of the possible robot command messages for controlling the robot.
 */
export interface GripperCommand {
}
/** The gripper request must be one of the basic command primitives. */
export interface GripperCommand_Request {
    /** Control opening and closing the gripper. */
    clawGripperCommand: ClawGripperCommand_Request | undefined;
}
/**
 * The feedback for the gripper command that will provide information on the progress
 * of the command.
 */
export interface GripperCommand_Feedback {
    /** Feedback for the claw gripper command. */
    clawGripperFeedback: ClawGripperCommand_Feedback | undefined;
    status: RobotCommandFeedbackStatus_Status;
}
/** Command to open and close the gripper. */
export interface ClawGripperCommand {
}
export interface ClawGripperCommand_Request {
    /**
     * Scalar trajectory for opening/closing the gripper. If 1 point is specified
     * with no end time, we will execute a minimum time trajectory that observes
     * velocity and acceleration constraints. Otherwise, we will use piecewise
     * cubic interpolation, meaning there will be a cubic polynomial between each
     * trajectory point, with continuous position and velocity at each trajectory
     * point. If the requested trajectory violates the velocity or acceleration
     * constraints below, a trajectory that is as close as possible but still
     * obeys the constraints will be executed instead.
     * position is radians: 0 is fully closed -1.5708 (-90 degrees) is fully open
     * velocity is radians / sec.
     */
    trajectory: ScalarTrajectory | undefined;
    /** If unspecified, a default value of 10 (rad/s) will be used. */
    maximumOpenCloseVelocity: number | undefined;
    /** If unspecified, a default value of 40 (rad/s/s) will be used. */
    maximumOpenCloseAcceleration: number | undefined;
    /** Maximum torque applied. If unspecified, a default value of 5.5 (Nm) will be used. */
    maximumTorque: number | undefined;
    /**
     * By default the gripper transitions to force control when it detects an object closing.
     * Setting this field to true disables the transition to force control on contact detection
     * and always keeps the gripper in position control.
     */
    disableForceOnContact: boolean;
}
export interface ClawGripperCommand_Feedback {
    /** Current status of the command. */
    status: ClawGripperCommand_Feedback_Status;
}
export declare enum ClawGripperCommand_Feedback_Status {
    /** STATUS_UNKNOWN - STATUS_UNKNOWN should never be used. If used, an internal error has happened. */
    STATUS_UNKNOWN = 0,
    /** STATUS_IN_PROGRESS - The gripper is opening or closing. */
    STATUS_IN_PROGRESS = 1,
    /** STATUS_AT_GOAL - The gripper is at the final point of the trajectory. */
    STATUS_AT_GOAL = 2,
    /** STATUS_APPLYING_FORCE - During a close, detected contact and transitioned to force control. */
    STATUS_APPLYING_FORCE = 3,
    UNRECOGNIZED = -1
}
export declare function clawGripperCommand_Feedback_StatusFromJSON(object: any): ClawGripperCommand_Feedback_Status;
export declare function clawGripperCommand_Feedback_StatusToJSON(object: ClawGripperCommand_Feedback_Status): string;
export declare const GripperCommand: {
    encode(_: GripperCommand, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand;
    fromJSON(_: any): GripperCommand;
    toJSON(_: GripperCommand): unknown;
    fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): GripperCommand;
};
export declare const GripperCommand_Request: {
    encode(message: GripperCommand_Request, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand_Request;
    fromJSON(object: any): GripperCommand_Request;
    toJSON(message: GripperCommand_Request): unknown;
    fromPartial<I extends {
        clawGripperCommand?: {
            trajectory?: {
                points?: {
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } | undefined;
            maximumOpenCloseVelocity?: number | undefined;
            maximumOpenCloseAcceleration?: number | undefined;
            maximumTorque?: number | undefined;
            disableForceOnContact?: boolean | undefined;
        } | undefined;
    } & {
        clawGripperCommand?: ({
            trajectory?: {
                points?: {
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } | undefined;
            maximumOpenCloseVelocity?: number | undefined;
            maximumOpenCloseAcceleration?: number | undefined;
            maximumTorque?: number | undefined;
            disableForceOnContact?: boolean | undefined;
        } & {
            trajectory?: ({
                points?: {
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } & {
                points?: ({
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] & ({
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                } & {
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: ({
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & { [K in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
                } & { [K_1 in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"][number], keyof import("./trajectory").ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["clawGripperCommand"]["trajectory"]["points"], keyof {
                    point?: number | undefined;
                    velocity?: number | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[]>]: never; }) | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } & { [K_3 in Exclude<keyof I["clawGripperCommand"]["trajectory"], keyof ScalarTrajectory>]: never; }) | undefined;
            maximumOpenCloseVelocity?: number | undefined;
            maximumOpenCloseAcceleration?: number | undefined;
            maximumTorque?: number | undefined;
            disableForceOnContact?: boolean | undefined;
        } & { [K_4 in Exclude<keyof I["clawGripperCommand"], keyof ClawGripperCommand_Request>]: never; }) | undefined;
    } & { [K_5 in Exclude<keyof I, "clawGripperCommand">]: never; }>(object: I): GripperCommand_Request;
};
export declare const GripperCommand_Feedback: {
    encode(message: GripperCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): GripperCommand_Feedback;
    fromJSON(object: any): GripperCommand_Feedback;
    toJSON(message: GripperCommand_Feedback): unknown;
    fromPartial<I extends {
        clawGripperFeedback?: {
            status?: ClawGripperCommand_Feedback_Status | undefined;
        } | undefined;
        status?: RobotCommandFeedbackStatus_Status | undefined;
    } & {
        clawGripperFeedback?: ({
            status?: ClawGripperCommand_Feedback_Status | undefined;
        } & {
            status?: ClawGripperCommand_Feedback_Status | undefined;
        } & { [K in Exclude<keyof I["clawGripperFeedback"], "status">]: never; }) | undefined;
        status?: RobotCommandFeedbackStatus_Status | undefined;
    } & { [K_1 in Exclude<keyof I, keyof GripperCommand_Feedback>]: never; }>(object: I): GripperCommand_Feedback;
};
export declare const ClawGripperCommand: {
    encode(_: ClawGripperCommand, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand;
    fromJSON(_: any): ClawGripperCommand;
    toJSON(_: ClawGripperCommand): unknown;
    fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): ClawGripperCommand;
};
export declare const ClawGripperCommand_Request: {
    encode(message: ClawGripperCommand_Request, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand_Request;
    fromJSON(object: any): ClawGripperCommand_Request;
    toJSON(message: ClawGripperCommand_Request): unknown;
    fromPartial<I extends {
        trajectory?: {
            points?: {
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } | undefined;
            }[] | undefined;
            referenceTime?: Date | undefined;
            interpolation?: import("./trajectory").PositionalInterpolation | undefined;
        } | undefined;
        maximumOpenCloseVelocity?: number | undefined;
        maximumOpenCloseAcceleration?: number | undefined;
        maximumTorque?: number | undefined;
        disableForceOnContact?: boolean | undefined;
    } & {
        trajectory?: ({
            points?: {
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } | undefined;
            }[] | undefined;
            referenceTime?: Date | undefined;
            interpolation?: import("./trajectory").PositionalInterpolation | undefined;
        } & {
            points?: ({
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } | undefined;
            }[] & ({
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } | undefined;
            } & {
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: ({
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } & {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } & { [K in Exclude<keyof I["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
            } & { [K_1 in Exclude<keyof I["trajectory"]["points"][number], keyof import("./trajectory").ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["trajectory"]["points"], keyof {
                point?: number | undefined;
                velocity?: number | undefined;
                timeSinceReference?: {
                    seconds?: number | undefined;
                    nanos?: number | undefined;
                } | undefined;
            }[]>]: never; }) | undefined;
            referenceTime?: Date | undefined;
            interpolation?: import("./trajectory").PositionalInterpolation | undefined;
        } & { [K_3 in Exclude<keyof I["trajectory"], keyof ScalarTrajectory>]: never; }) | undefined;
        maximumOpenCloseVelocity?: number | undefined;
        maximumOpenCloseAcceleration?: number | undefined;
        maximumTorque?: number | undefined;
        disableForceOnContact?: boolean | undefined;
    } & { [K_4 in Exclude<keyof I, keyof ClawGripperCommand_Request>]: never; }>(object: I): ClawGripperCommand_Request;
};
export declare const ClawGripperCommand_Feedback: {
    encode(message: ClawGripperCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ClawGripperCommand_Feedback;
    fromJSON(object: any): ClawGripperCommand_Feedback;
    toJSON(message: ClawGripperCommand_Feedback): unknown;
    fromPartial<I extends {
        status?: ClawGripperCommand_Feedback_Status | undefined;
    } & {
        status?: ClawGripperCommand_Feedback_Status | undefined;
    } & { [K in Exclude<keyof I, "status">]: never; }>(object: I): ClawGripperCommand_Feedback;
};
declare type Builtin = Date | Function | Uint8Array | string | number | boolean | undefined;
export declare type DeepPartial<T> = T extends Builtin ? T : T extends Array<infer U> ? Array<DeepPartial<U>> : T extends ReadonlyArray<infer U> ? ReadonlyArray<DeepPartial<U>> : T extends {} ? {
    [K in keyof T]?: DeepPartial<T[K]>;
} : Partial<T>;
declare type KeysOfUnion<T> = T extends T ? keyof T : never;
export declare type Exact<P, I extends P> = P extends Builtin ? P : P & {
    [K in keyof P]: Exact<P[K], I[K]>;
} & {
    [K in Exclude<keyof I, KeysOfUnion<P>>]: never;
};
export {};
//# sourceMappingURL=gripper_command.d.ts.map