import { RobotCommandFeedbackStatus_Status, SE2TrajectoryCommand_Request, SE2VelocityCommand_Request, SitCommand_Request, StandCommand_Request, StanceCommand_Request, StopCommand_Request, FollowArmCommand_Request, SE2TrajectoryCommand_Feedback, SE2VelocityCommand_Feedback, SitCommand_Feedback, StandCommand_Feedback, StanceCommand_Feedback, StopCommand_Feedback, FollowArmCommand_Feedback } from "./basic_command";
import { Any } from "../../google/protobuf/any";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** The robot command message to specify a basic command that moves the robot. */
export interface MobilityCommand {
}
/** The mobility request must be one of the basic command primitives. */
export interface MobilityCommand_Request {
    /** Command to move the robot along a trajectory. */
    se2TrajectoryRequest: SE2TrajectoryCommand_Request | undefined;
    /** Command to move the robot at a fixed velocity. */
    se2VelocityRequest: SE2VelocityCommand_Request | undefined;
    /** Command to sit the robot down. */
    sitRequest: SitCommand_Request | undefined;
    /** Command to stand up the robot. */
    standRequest: StandCommand_Request | undefined;
    stanceRequest: StanceCommand_Request | undefined;
    stopRequest: StopCommand_Request | undefined;
    followArmRequest: FollowArmCommand_Request | undefined;
    /** Robot specific command parameters. */
    params: Any | undefined;
}
/**
 * The feedback for the mobility command that will provide information on the progress
 * of the robot command.
 */
export interface MobilityCommand_Feedback {
    /** Feedback for the trajectory command. */
    se2TrajectoryFeedback: SE2TrajectoryCommand_Feedback | undefined;
    /** Feedback for the velocity command. */
    se2VelocityFeedback: SE2VelocityCommand_Feedback | undefined;
    /** Feedback for the sit command. */
    sitFeedback: SitCommand_Feedback | undefined;
    /** Feedback for the stand command. */
    standFeedback: StandCommand_Feedback | undefined;
    stanceFeedback: StanceCommand_Feedback | undefined;
    stopFeedback: StopCommand_Feedback | undefined;
    followArmFeedback: FollowArmCommand_Feedback | undefined;
    status: RobotCommandFeedbackStatus_Status;
}
export declare const MobilityCommand: {
    encode(_: MobilityCommand, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand;
    fromJSON(_: any): MobilityCommand;
    toJSON(_: MobilityCommand): unknown;
    fromPartial<I extends {} & {} & { [K in Exclude<keyof I, never>]: never; }>(_: I): MobilityCommand;
};
export declare const MobilityCommand_Request: {
    encode(message: MobilityCommand_Request, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand_Request;
    fromJSON(object: any): MobilityCommand_Request;
    toJSON(message: MobilityCommand_Request): unknown;
    fromPartial<I extends {
        se2TrajectoryRequest?: {
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            trajectory?: {
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } | undefined;
        } | undefined;
        se2VelocityRequest?: {
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } | undefined;
            slewRateLimit?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } | undefined;
        } | undefined;
        sitRequest?: {} | undefined;
        standRequest?: {} | undefined;
        stanceRequest?: {
            endTime?: Date | undefined;
            stance?: {
                se2FrameName?: string | undefined;
                footPositions?: {
                    [x: string]: {
                        x?: number | undefined;
                        y?: number | undefined;
                    } | undefined;
                } | undefined;
                accuracy?: number | undefined;
            } | undefined;
        } | undefined;
        stopRequest?: {} | undefined;
        followArmRequest?: {
            bodyOffsetFromHand?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            disableWalking?: boolean | undefined;
        } | undefined;
        params?: {
            typeUrl?: string | undefined;
            value?: Uint8Array | undefined;
        } | undefined;
    } & {
        se2TrajectoryRequest?: ({
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            trajectory?: {
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } | undefined;
        } & {
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            trajectory?: ({
                points?: {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } & {
                points?: ({
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[] & ({
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                } & {
                    pose?: ({
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } & {
                        position?: ({
                            x?: number | undefined;
                            y?: number | undefined;
                        } & {
                            x?: number | undefined;
                            y?: number | undefined;
                        } & { [K in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
                        angle?: number | undefined;
                    } & { [K_1 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["pose"], keyof import("./geometry").SE2Pose>]: never; }) | undefined;
                    timeSinceReference?: ({
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } & { [K_2 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number]["timeSinceReference"], keyof import("../../google/protobuf/duration").Duration>]: never; }) | undefined;
                } & { [K_3 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"][number], keyof import("./trajectory").SE2TrajectoryPoint>]: never; })[] & { [K_4 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"]["points"], keyof {
                    pose?: {
                        position?: {
                            x?: number | undefined;
                            y?: number | undefined;
                        } | undefined;
                        angle?: number | undefined;
                    } | undefined;
                    timeSinceReference?: {
                        seconds?: number | undefined;
                        nanos?: number | undefined;
                    } | undefined;
                }[]>]: never; }) | undefined;
                referenceTime?: Date | undefined;
                interpolation?: import("./trajectory").PositionalInterpolation | undefined;
            } & { [K_5 in Exclude<keyof I["se2TrajectoryRequest"]["trajectory"], keyof import("./trajectory").SE2Trajectory>]: never; }) | undefined;
        } & { [K_6 in Exclude<keyof I["se2TrajectoryRequest"], keyof SE2TrajectoryCommand_Request>]: never; }) | undefined;
        se2VelocityRequest?: ({
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } | undefined;
            slewRateLimit?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } | undefined;
        } & {
            endTime?: Date | undefined;
            se2FrameName?: string | undefined;
            velocity?: ({
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } & {
                linear?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                } & { [K_7 in Exclude<keyof I["se2VelocityRequest"]["velocity"]["linear"], keyof import("./geometry").Vec2>]: never; }) | undefined;
                angular?: number | undefined;
            } & { [K_8 in Exclude<keyof I["se2VelocityRequest"]["velocity"], keyof import("./geometry").SE2Velocity>]: never; }) | undefined;
            slewRateLimit?: ({
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                } | undefined;
                angular?: number | undefined;
            } & {
                linear?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                } & { [K_9 in Exclude<keyof I["se2VelocityRequest"]["slewRateLimit"]["linear"], keyof import("./geometry").Vec2>]: never; }) | undefined;
                angular?: number | undefined;
            } & { [K_10 in Exclude<keyof I["se2VelocityRequest"]["slewRateLimit"], keyof import("./geometry").SE2Velocity>]: never; }) | undefined;
        } & { [K_11 in Exclude<keyof I["se2VelocityRequest"], keyof SE2VelocityCommand_Request>]: never; }) | undefined;
        sitRequest?: ({} & {} & { [K_12 in Exclude<keyof I["sitRequest"], never>]: never; }) | undefined;
        standRequest?: ({} & {} & { [K_13 in Exclude<keyof I["standRequest"], never>]: never; }) | undefined;
        stanceRequest?: ({
            endTime?: Date | undefined;
            stance?: {
                se2FrameName?: string | undefined;
                footPositions?: {
                    [x: string]: {
                        x?: number | undefined;
                        y?: number | undefined;
                    } | undefined;
                } | undefined;
                accuracy?: number | undefined;
            } | undefined;
        } & {
            endTime?: Date | undefined;
            stance?: ({
                se2FrameName?: string | undefined;
                footPositions?: {
                    [x: string]: {
                        x?: number | undefined;
                        y?: number | undefined;
                    } | undefined;
                } | undefined;
                accuracy?: number | undefined;
            } & {
                se2FrameName?: string | undefined;
                footPositions?: ({
                    [x: string]: {
                        x?: number | undefined;
                        y?: number | undefined;
                    } | undefined;
                } & {
                    [x: string]: ({
                        x?: number | undefined;
                        y?: number | undefined;
                    } & {
                        x?: number | undefined;
                        y?: number | undefined;
                    } & { [K_14 in Exclude<keyof I["stanceRequest"]["stance"]["footPositions"][string], keyof import("./geometry").Vec2>]: never; }) | undefined;
                } & { [K_15 in Exclude<keyof I["stanceRequest"]["stance"]["footPositions"], string | number>]: never; }) | undefined;
                accuracy?: number | undefined;
            } & { [K_16 in Exclude<keyof I["stanceRequest"]["stance"], keyof import("./basic_command").Stance>]: never; }) | undefined;
        } & { [K_17 in Exclude<keyof I["stanceRequest"], keyof StanceCommand_Request>]: never; }) | undefined;
        stopRequest?: ({} & {} & { [K_18 in Exclude<keyof I["stopRequest"], never>]: never; }) | undefined;
        followArmRequest?: ({
            bodyOffsetFromHand?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            disableWalking?: boolean | undefined;
        } & {
            bodyOffsetFromHand?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_19 in Exclude<keyof I["followArmRequest"]["bodyOffsetFromHand"], keyof import("./geometry").Vec3>]: never; }) | undefined;
            disableWalking?: boolean | undefined;
        } & { [K_20 in Exclude<keyof I["followArmRequest"], keyof FollowArmCommand_Request>]: never; }) | undefined;
        params?: ({
            typeUrl?: string | undefined;
            value?: Uint8Array | undefined;
        } & {
            typeUrl?: string | undefined;
            value?: Uint8Array | undefined;
        } & { [K_21 in Exclude<keyof I["params"], keyof Any>]: never; }) | undefined;
    } & { [K_22 in Exclude<keyof I, keyof MobilityCommand_Request>]: never; }>(object: I): MobilityCommand_Request;
};
export declare const MobilityCommand_Feedback: {
    encode(message: MobilityCommand_Feedback, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): MobilityCommand_Feedback;
    fromJSON(object: any): MobilityCommand_Feedback;
    toJSON(message: MobilityCommand_Feedback): unknown;
    fromPartial<I extends {
        se2TrajectoryFeedback?: {
            status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
            bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
        } | undefined;
        se2VelocityFeedback?: {} | undefined;
        sitFeedback?: {
            status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
        } | undefined;
        standFeedback?: {
            status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
            standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
        } | undefined;
        stanceFeedback?: {
            status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
        } | undefined;
        stopFeedback?: {} | undefined;
        followArmFeedback?: {} | undefined;
        status?: RobotCommandFeedbackStatus_Status | undefined;
    } & {
        se2TrajectoryFeedback?: ({
            status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
            bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
        } & {
            status?: import("./basic_command").SE2TrajectoryCommand_Feedback_Status | undefined;
            bodyMovementStatus?: import("./basic_command").SE2TrajectoryCommand_Feedback_BodyMovementStatus | undefined;
        } & { [K in Exclude<keyof I["se2TrajectoryFeedback"], keyof SE2TrajectoryCommand_Feedback>]: never; }) | undefined;
        se2VelocityFeedback?: ({} & {} & { [K_1 in Exclude<keyof I["se2VelocityFeedback"], never>]: never; }) | undefined;
        sitFeedback?: ({
            status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
        } & {
            status?: import("./basic_command").SitCommand_Feedback_Status | undefined;
        } & { [K_2 in Exclude<keyof I["sitFeedback"], "status">]: never; }) | undefined;
        standFeedback?: ({
            status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
            standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
        } & {
            status?: import("./basic_command").StandCommand_Feedback_Status | undefined;
            standingState?: import("./basic_command").StandCommand_Feedback_StandingState | undefined;
        } & { [K_3 in Exclude<keyof I["standFeedback"], keyof StandCommand_Feedback>]: never; }) | undefined;
        stanceFeedback?: ({
            status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
        } & {
            status?: import("./basic_command").StanceCommand_Feedback_Status | undefined;
        } & { [K_4 in Exclude<keyof I["stanceFeedback"], "status">]: never; }) | undefined;
        stopFeedback?: ({} & {} & { [K_5 in Exclude<keyof I["stopFeedback"], never>]: never; }) | undefined;
        followArmFeedback?: ({} & {} & { [K_6 in Exclude<keyof I["followArmFeedback"], never>]: never; }) | undefined;
        status?: RobotCommandFeedbackStatus_Status | undefined;
    } & { [K_7 in Exclude<keyof I, keyof MobilityCommand_Feedback>]: never; }>(object: I): MobilityCommand_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 {};
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