import type IUrdfVisual from "./models/IUrdfVisual";
import type IUrdfLink from "./models/IUrdfLink";
import type IUrdfJoint from "./models/IUrdfJoint";
import type IUrdfRobot from "./models/IUrdfRobot";
export declare function getRootLinks(robot: IUrdfRobot): IUrdfLink[];
export declare function getRootJoints(robot: IUrdfRobot): IUrdfJoint[];
export declare function getChildJoints(robot: IUrdfRobot, parent: IUrdfLink): IUrdfJoint[];
export declare function updateOrigin(posable: IUrdfJoint | IUrdfVisual): void;
export declare class UrdfParser {
    filename: string;
    colors: {
        [name: string]: [r: number, g: number, b: number, a: number];
    };
    robot: IUrdfRobot;
    prefix: string;
    constructor(filename: string, prefix?: string);
    load(): Promise<string>;
    reset(): void;
    fromString(data: string): IUrdfRobot;
    parseRobotXMLNode(robotNode: Element): IUrdfRobot;
    parseColorsFromRobot(robotNode: Element): void;
    colorFromMaterial(xmlMaterial: Element): {
        name: string;
        rgba: [r: number, g: number, b: number, a: number];
    } | undefined;
    getLinkByName(name: string): Element | undefined;
    parseLinks(robotNode: Element): void;
    parseVisual(node: Element): IUrdfVisual;
    parseGeometry(node: ChildNode, visual: IUrdfVisual): void;
    parseJoints(robotNode: Element): void;
    /** create XML-string from URDF-description */
    getURDFXML(): string;
}