import { EventEmitter } from 'eventemitter3';
import { default as ActionClient } from './ActionClient.ts';
import { actionlib_msgs } from '../types/actionlib_msgs.ts';
/**
 * An actionlib goal that is associated with an action server.
 *
 * Emits the following events:
 *  * 'timeout' - If a timeout occurred while sending a goal.
 */
export default class Goal<TGoal, TFeedback = unknown, TResult = unknown> extends EventEmitter<{
    timeout: undefined;
    status: [actionlib_msgs.GoalStatus];
    feedback: [TFeedback];
    result: [TResult];
}> {
    isFinished: boolean;
    status?: actionlib_msgs.GoalStatus;
    result?: TResult;
    feedback?: TFeedback;
    goalID: string;
    actionClient: ActionClient<TGoal, TFeedback, TResult>;
    goalMessage: {
        goal: TGoal;
        goal_id: actionlib_msgs.GoalID;
    };
    /**
     * @param options
     * @param options.actionClient - The ROSLIB.ActionClient to use with this goal.
     * @param options.goalMessage - The JSON object containing the goal for the action server.
     */
    constructor({ actionClient, goalMessage, }: {
        actionClient: ActionClient<TGoal, TFeedback, TResult>;
        goalMessage: TGoal;
    });
    /**
     * Send the goal to the action server.
     *
     * @param [timeout] - A timeout length for the goal's result.
     */
    send(timeout?: number): void;
    /**
     * Cancel the current goal.
     */
    cancel(): void;
}