import { SE2Pose, SE3Pose, SE3Velocity, Vec3, Wrench } from "./geometry";
import { Duration } from "../../google/protobuf/duration";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
/** Parameters for how positional trajectories will be interpolated on robot. */
export declare enum PositionalInterpolation {
    /** POS_INTERP_UNKNOWN - Unknown interpolation, do not use. */
    POS_INTERP_UNKNOWN = 0,
    /** POS_INTERP_LINEAR - Linear interpolation for positional data. */
    POS_INTERP_LINEAR = 1,
    /** POS_INTERP_CUBIC - Cubic interpolation for positional data. */
    POS_INTERP_CUBIC = 2,
    UNRECOGNIZED = -1
}
export declare function positionalInterpolationFromJSON(object: any): PositionalInterpolation;
export declare function positionalInterpolationToJSON(object: PositionalInterpolation): string;
/** Parameters for how angular trajectories will be interpolated on robot. */
export declare enum AngularInterpolation {
    /** ANG_INTERP_UNKNOWN - Unknown interpolation, do not use. */
    ANG_INTERP_UNKNOWN = 0,
    /** ANG_INTERP_LINEAR - Linear interpolation for angular data. */
    ANG_INTERP_LINEAR = 1,
    /** ANG_INTERP_CUBIC_EULER - Cubic interpolation (using Euler method) for angular data. */
    ANG_INTERP_CUBIC_EULER = 2,
    UNRECOGNIZED = -1
}
export declare function angularInterpolationFromJSON(object: any): AngularInterpolation;
export declare function angularInterpolationToJSON(object: AngularInterpolation): string;
/**
 * A 2D pose trajectory, which specified multiple points and the desired times the robot should
 * reach these points.
 */
export interface SE2Trajectory {
    /** The points in trajectory */
    points: SE2TrajectoryPoint[];
    /**
     * All trajectories specify times relative to this reference time. The reference time should be
     * in robot clock. If this field is not included, this time will be the receive time of the
     * command.
     */
    referenceTime: Date | undefined;
    /** Parameters for how trajectories will be interpolated on robot. */
    interpolation: PositionalInterpolation;
}
/** A SE2 pose that can be used as a point within a trajectory. */
export interface SE2TrajectoryPoint {
    /** Required pose the robot will try and achieve. */
    pose: SE2Pose | undefined;
    /** The duration to reach the point relative to the trajectory reference time. */
    timeSinceReference: Duration | undefined;
}
/**
 * A 3D pose trajectory, which specified multiple poses (and velocities for each pose)
 * and the desired times the robot should reach these points.
 */
export interface SE3Trajectory {
    /** The points in trajectory */
    points: SE3TrajectoryPoint[];
    /**
     * All trajectories specify times relative to this reference time. The reference time should be
     * in robot clock. If this field is not included, this time will be the receive time of the
     * command.
     */
    referenceTime: Date | undefined;
    /** Parameters for how trajectories will be interpolated on robot. */
    posInterpolation: PositionalInterpolation;
    angInterpolation: AngularInterpolation;
}
/** A SE3 pose and velocity that can be used as a point within a trajectory. */
export interface SE3TrajectoryPoint {
    /** Required pose the robot will try and achieve. */
    pose: SE3Pose | undefined;
    /** Optional velocity (linear and angular) the robot will try and achieve. */
    velocity: SE3Velocity | undefined;
    /** The duration to reach the point relative to the trajectory reference time. */
    timeSinceReference: Duration | undefined;
}
/**
 * A 3D point trajectory, described by 3D points, a starting and ending velocity, and
 * a reference time.
 */
export interface Vec3Trajectory {
    /** The points in trajectory. */
    points: Vec3TrajectoryPoint[];
    /**
     * All trajectories specify times relative to this reference time. The reference time should be
     * in robot clock. If this field is not included, this time will be the receive time of the
     * command.
     */
    referenceTime: Date | undefined;
    /** Parameters for how trajectories will be interpolated on robot. */
    posInterpolation: PositionalInterpolation;
    /** Velocity at the starting point of the trajectory. */
    startingVelocity: Vec3 | undefined;
    /** Velocity at the ending point of the trajectory. */
    endingVelocity: Vec3 | undefined;
}
/** A 3D point (and linear velocity) that can be used as a point within a trajectory. */
export interface Vec3TrajectoryPoint {
    /** The point 3D position. */
    point: Vec3 | undefined;
    /**
     * These are all optional.  If nothing is specified, good defaults will be chosen
     * server-side.
     */
    linearSpeed: number;
    /** The duration to reach the point relative to the trajectory reference time. */
    timeSinceReference: Duration | undefined;
}
/** A time-based trajectories of wrenches. */
export interface WrenchTrajectory {
    /** The wrenches in the trajectory */
    points: WrenchTrajectoryPoint[];
    /**
     * All trajectories specify times relative to this reference time. The reference time should be
     * in robot clock. If this field is not included, this time will be the receive time of the
     * command.
     */
    referenceTime: Date | undefined;
}
export interface WrenchTrajectoryPoint {
    /** The wrench to apply at this point in time. */
    wrench: Wrench | undefined;
    /** The duration to reach the point relative to the trajectory reference time. */
    timeSinceReference: Duration | undefined;
}
/** A Point trajectory. */
export interface ScalarTrajectory {
    /** The points in trajectory */
    points: ScalarTrajectoryPoint[];
    /**
     * All trajectories specify times relative to this reference time. The reference time should be
     * in robot clock. If this field is not included, this time will be the receive time of the
     * command.
     */
    referenceTime: Date | undefined;
    /**
     * Parameters for how trajectories will be interpolated on robot.
     * (Note: ignored for ClawGripperCommand.Request, which will automatically
     * select between cubic interpolation or a minimum time trajectory)
     */
    interpolation: PositionalInterpolation;
}
export interface ScalarTrajectoryPoint {
    /** Required position at the trajectory point's reference time. */
    point: number;
    /** Optional speed at the trajectory point's reference time. */
    velocity: number | undefined;
    /** The duration to reach the point relative to the trajectory reference time. */
    timeSinceReference: Duration | undefined;
}
export declare const SE2Trajectory: {
    encode(message: SE2Trajectory, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): SE2Trajectory;
    fromJSON(object: any): SE2Trajectory;
    toJSON(message: SE2Trajectory): unknown;
    fromPartial<I extends {
        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?: 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["points"][number]["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
                angle?: number | undefined;
            } & { [K_1 in Exclude<keyof I["points"][number]["pose"], keyof SE2Pose>]: never; }) | undefined;
            timeSinceReference?: ({
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & { [K_2 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
        } & { [K_3 in Exclude<keyof I["points"][number], keyof SE2TrajectoryPoint>]: never; })[] & { [K_4 in Exclude<keyof I["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?: PositionalInterpolation | undefined;
    } & { [K_5 in Exclude<keyof I, keyof SE2Trajectory>]: never; }>(object: I): SE2Trajectory;
};
export declare const SE2TrajectoryPoint: {
    encode(message: SE2TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): SE2TrajectoryPoint;
    fromJSON(object: any): SE2TrajectoryPoint;
    toJSON(message: SE2TrajectoryPoint): unknown;
    fromPartial<I extends {
        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["pose"]["position"], keyof import("./geometry").Vec2>]: never; }) | undefined;
            angle?: number | undefined;
        } & { [K_1 in Exclude<keyof I["pose"], keyof SE2Pose>]: never; }) | undefined;
        timeSinceReference?: ({
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & { [K_2 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
    } & { [K_3 in Exclude<keyof I, keyof SE2TrajectoryPoint>]: never; }>(object: I): SE2TrajectoryPoint;
};
export declare const SE3Trajectory: {
    encode(message: SE3Trajectory, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): SE3Trajectory;
    fromJSON(object: any): SE3Trajectory;
    toJSON(message: SE3Trajectory): unknown;
    fromPartial<I extends {
        points?: {
            pose?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                angular?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] | undefined;
        referenceTime?: Date | undefined;
        posInterpolation?: PositionalInterpolation | undefined;
        angInterpolation?: AngularInterpolation | undefined;
    } & {
        points?: ({
            pose?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                angular?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] & ({
            pose?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                angular?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        } & {
            pose?: ({
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } & {
                position?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K in Exclude<keyof I["points"][number]["pose"]["position"], keyof Vec3>]: never; }) | undefined;
                rotation?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } & { [K_1 in Exclude<keyof I["points"][number]["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_2 in Exclude<keyof I["points"][number]["pose"], keyof SE3Pose>]: never; }) | undefined;
            velocity?: ({
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                angular?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } & {
                linear?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K_3 in Exclude<keyof I["points"][number]["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
                angular?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K_4 in Exclude<keyof I["points"][number]["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
            } & { [K_5 in Exclude<keyof I["points"][number]["velocity"], keyof SE3Velocity>]: never; }) | undefined;
            timeSinceReference?: ({
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & { [K_6 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
        } & { [K_7 in Exclude<keyof I["points"][number], keyof SE3TrajectoryPoint>]: never; })[] & { [K_8 in Exclude<keyof I["points"], keyof {
            pose?: {
                position?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                rotation?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                    w?: number | undefined;
                } | undefined;
            } | undefined;
            velocity?: {
                linear?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                angular?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[]>]: never; }) | undefined;
        referenceTime?: Date | undefined;
        posInterpolation?: PositionalInterpolation | undefined;
        angInterpolation?: AngularInterpolation | undefined;
    } & { [K_9 in Exclude<keyof I, keyof SE3Trajectory>]: never; }>(object: I): SE3Trajectory;
};
export declare const SE3TrajectoryPoint: {
    encode(message: SE3TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): SE3TrajectoryPoint;
    fromJSON(object: any): SE3TrajectoryPoint;
    toJSON(message: SE3TrajectoryPoint): unknown;
    fromPartial<I extends {
        pose?: {
            position?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            rotation?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
                w?: number | undefined;
            } | undefined;
        } | undefined;
        velocity?: {
            linear?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            angular?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
        } | undefined;
        timeSinceReference?: {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } | undefined;
    } & {
        pose?: ({
            position?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            rotation?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
                w?: number | undefined;
            } | undefined;
        } & {
            position?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K in Exclude<keyof I["pose"]["position"], keyof Vec3>]: never; }) | undefined;
            rotation?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
                w?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
                w?: number | undefined;
            } & { [K_1 in Exclude<keyof I["pose"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["pose"], keyof SE3Pose>]: never; }) | undefined;
        velocity?: ({
            linear?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            angular?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
        } & {
            linear?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_3 in Exclude<keyof I["velocity"]["linear"], keyof Vec3>]: never; }) | undefined;
            angular?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_4 in Exclude<keyof I["velocity"]["angular"], keyof Vec3>]: never; }) | undefined;
        } & { [K_5 in Exclude<keyof I["velocity"], keyof SE3Velocity>]: never; }) | undefined;
        timeSinceReference?: ({
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & { [K_6 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
    } & { [K_7 in Exclude<keyof I, keyof SE3TrajectoryPoint>]: never; }>(object: I): SE3TrajectoryPoint;
};
export declare const Vec3Trajectory: {
    encode(message: Vec3Trajectory, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): Vec3Trajectory;
    fromJSON(object: any): Vec3Trajectory;
    toJSON(message: Vec3Trajectory): unknown;
    fromPartial<I extends {
        points?: {
            point?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            linearSpeed?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] | undefined;
        referenceTime?: Date | undefined;
        posInterpolation?: PositionalInterpolation | undefined;
        startingVelocity?: {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } | undefined;
        endingVelocity?: {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } | undefined;
    } & {
        points?: ({
            point?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            linearSpeed?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] & ({
            point?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            linearSpeed?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        } & {
            point?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K in Exclude<keyof I["points"][number]["point"], keyof Vec3>]: never; }) | undefined;
            linearSpeed?: number | undefined;
            timeSinceReference?: ({
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & { [K_1 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["points"][number], keyof Vec3TrajectoryPoint>]: never; })[] & { [K_3 in Exclude<keyof I["points"], keyof {
            point?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            linearSpeed?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[]>]: never; }) | undefined;
        referenceTime?: Date | undefined;
        posInterpolation?: PositionalInterpolation | undefined;
        startingVelocity?: ({
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & { [K_4 in Exclude<keyof I["startingVelocity"], keyof Vec3>]: never; }) | undefined;
        endingVelocity?: ({
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & { [K_5 in Exclude<keyof I["endingVelocity"], keyof Vec3>]: never; }) | undefined;
    } & { [K_6 in Exclude<keyof I, keyof Vec3Trajectory>]: never; }>(object: I): Vec3Trajectory;
};
export declare const Vec3TrajectoryPoint: {
    encode(message: Vec3TrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): Vec3TrajectoryPoint;
    fromJSON(object: any): Vec3TrajectoryPoint;
    toJSON(message: Vec3TrajectoryPoint): unknown;
    fromPartial<I extends {
        point?: {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } | undefined;
        linearSpeed?: number | undefined;
        timeSinceReference?: {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } | undefined;
    } & {
        point?: ({
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & {
            x?: number | undefined;
            y?: number | undefined;
            z?: number | undefined;
        } & { [K in Exclude<keyof I["point"], keyof Vec3>]: never; }) | undefined;
        linearSpeed?: number | undefined;
        timeSinceReference?: ({
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & { [K_1 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
    } & { [K_2 in Exclude<keyof I, keyof Vec3TrajectoryPoint>]: never; }>(object: I): Vec3TrajectoryPoint;
};
export declare const WrenchTrajectory: {
    encode(message: WrenchTrajectory, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): WrenchTrajectory;
    fromJSON(object: any): WrenchTrajectory;
    toJSON(message: WrenchTrajectory): unknown;
    fromPartial<I extends {
        points?: {
            wrench?: {
                force?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                torque?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] | undefined;
        referenceTime?: Date | undefined;
    } & {
        points?: ({
            wrench?: {
                force?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                torque?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] & ({
            wrench?: {
                force?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                torque?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        } & {
            wrench?: ({
                force?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                torque?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } & {
                force?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K in Exclude<keyof I["points"][number]["wrench"]["force"], keyof Vec3>]: never; }) | undefined;
                torque?: ({
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } & { [K_1 in Exclude<keyof I["points"][number]["wrench"]["torque"], keyof Vec3>]: never; }) | undefined;
            } & { [K_2 in Exclude<keyof I["points"][number]["wrench"], keyof Wrench>]: never; }) | undefined;
            timeSinceReference?: ({
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } & { [K_3 in Exclude<keyof I["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
        } & { [K_4 in Exclude<keyof I["points"][number], keyof WrenchTrajectoryPoint>]: never; })[] & { [K_5 in Exclude<keyof I["points"], keyof {
            wrench?: {
                force?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
                torque?: {
                    x?: number | undefined;
                    y?: number | undefined;
                    z?: number | undefined;
                } | undefined;
            } | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[]>]: never; }) | undefined;
        referenceTime?: Date | undefined;
    } & { [K_6 in Exclude<keyof I, keyof WrenchTrajectory>]: never; }>(object: I): WrenchTrajectory;
};
export declare const WrenchTrajectoryPoint: {
    encode(message: WrenchTrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): WrenchTrajectoryPoint;
    fromJSON(object: any): WrenchTrajectoryPoint;
    toJSON(message: WrenchTrajectoryPoint): unknown;
    fromPartial<I extends {
        wrench?: {
            force?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            torque?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
        } | undefined;
        timeSinceReference?: {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } | undefined;
    } & {
        wrench?: ({
            force?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
            torque?: {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } | undefined;
        } & {
            force?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K in Exclude<keyof I["wrench"]["force"], keyof Vec3>]: never; }) | undefined;
            torque?: ({
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & {
                x?: number | undefined;
                y?: number | undefined;
                z?: number | undefined;
            } & { [K_1 in Exclude<keyof I["wrench"]["torque"], keyof Vec3>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["wrench"], keyof Wrench>]: never; }) | undefined;
        timeSinceReference?: ({
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & {
            seconds?: number | undefined;
            nanos?: number | undefined;
        } & { [K_3 in Exclude<keyof I["timeSinceReference"], keyof Duration>]: never; }) | undefined;
    } & { [K_4 in Exclude<keyof I, keyof WrenchTrajectoryPoint>]: never; }>(object: I): WrenchTrajectoryPoint;
};
export declare const ScalarTrajectory: {
    encode(message: ScalarTrajectory, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ScalarTrajectory;
    fromJSON(object: any): ScalarTrajectory;
    toJSON(message: ScalarTrajectory): unknown;
    fromPartial<I extends {
        points?: {
            point?: number | undefined;
            velocity?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[] | undefined;
        referenceTime?: Date | undefined;
        interpolation?: 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["points"][number]["timeSinceReference"], keyof Duration>]: never; }) | undefined;
        } & { [K_1 in Exclude<keyof I["points"][number], keyof ScalarTrajectoryPoint>]: never; })[] & { [K_2 in Exclude<keyof I["points"], keyof {
            point?: number | undefined;
            velocity?: number | undefined;
            timeSinceReference?: {
                seconds?: number | undefined;
                nanos?: number | undefined;
            } | undefined;
        }[]>]: never; }) | undefined;
        referenceTime?: Date | undefined;
        interpolation?: PositionalInterpolation | undefined;
    } & { [K_3 in Exclude<keyof I, keyof ScalarTrajectory>]: never; }>(object: I): ScalarTrajectory;
};
export declare const ScalarTrajectoryPoint: {
    encode(message: ScalarTrajectoryPoint, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): ScalarTrajectoryPoint;
    fromJSON(object: any): ScalarTrajectoryPoint;
    toJSON(message: ScalarTrajectoryPoint): unknown;
    fromPartial<I extends {
        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["timeSinceReference"], keyof Duration>]: never; }) | undefined;
    } & { [K_1 in Exclude<keyof I, keyof ScalarTrajectoryPoint>]: never; }>(object: I): ScalarTrajectoryPoint;
};
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=trajectory.d.ts.map