import { SE3Pose } from "./geometry";
import _m0 from "protobufjs/minimal";
export declare const protobufPackage = "bosdyn.api";
export interface StairTransform {
    /** The staircase origin is the bottom-center of the first rise. */
    frameTformStairs: SE3Pose | undefined;
    frameName: string;
}
export interface StraightStaircase {
    /**
     * It is expressed in ko frame of the from_waypoint.
     * This field is only used in GraphNav.
     */
    fromKoTformStairs: SE3Pose | undefined;
    /** Outside GraphNav, this field specifies the stair origin. */
    tform: StairTransform | undefined;
    /** Each stair should be rise followed by run. The last stair will have zero run. */
    stairs: StraightStaircase_Stair[];
    /**
     * The lowermost landing of the stairs. The robot will try to
     * align itself to the stairs while on this landing.
     */
    bottomLanding: StraightStaircase_Landing | undefined;
    /** The uppermost landing of the stairs. */
    topLanding: StraightStaircase_Landing | undefined;
}
/** A single stair from a staircase. */
export interface StraightStaircase_Stair {
    /** Height of each stair. */
    rise: number;
    /** Depth of each stair. */
    run: number;
}
/**
 * Straight staircases have two landings, one at the top and one at the bottom.
 * Landings are areas of free space before and after the stairs, and are represented
 * as oriented bounding boxes.
 */
export interface StraightStaircase_Landing {
    /** Pose of the landing's center relative to the stairs frame. */
    stairsTformLandingCenter: SE3Pose | undefined;
    /** The half-size of the box representing the landing in the x axis. */
    landingExtentX: number;
    /** The half-size of the box representing the landing in the y axis. */
    landingExtentY: number;
}
export declare const StairTransform: {
    encode(message: StairTransform, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): StairTransform;
    fromJSON(object: any): StairTransform;
    toJSON(message: StairTransform): unknown;
    fromPartial<I extends {
        frameTformStairs?: {
            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;
        frameName?: string | undefined;
    } & {
        frameTformStairs?: ({
            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["frameTformStairs"]["position"], keyof import("./geometry").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["frameTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["frameTformStairs"], keyof SE3Pose>]: never; }) | undefined;
        frameName?: string | undefined;
    } & { [K_3 in Exclude<keyof I, keyof StairTransform>]: never; }>(object: I): StairTransform;
};
export declare const StraightStaircase: {
    encode(message: StraightStaircase, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase;
    fromJSON(object: any): StraightStaircase;
    toJSON(message: StraightStaircase): unknown;
    fromPartial<I extends {
        fromKoTformStairs?: {
            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;
        tform?: {
            frameTformStairs?: {
                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;
            frameName?: string | undefined;
        } | undefined;
        stairs?: {
            rise?: number | undefined;
            run?: number | undefined;
        }[] | undefined;
        bottomLanding?: {
            stairsTformLandingCenter?: {
                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;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } | undefined;
        topLanding?: {
            stairsTformLandingCenter?: {
                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;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } | undefined;
    } & {
        fromKoTformStairs?: ({
            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["fromKoTformStairs"]["position"], keyof import("./geometry").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["fromKoTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["fromKoTformStairs"], keyof SE3Pose>]: never; }) | undefined;
        tform?: ({
            frameTformStairs?: {
                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;
            frameName?: string | undefined;
        } & {
            frameTformStairs?: ({
                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_3 in Exclude<keyof I["tform"]["frameTformStairs"]["position"], keyof import("./geometry").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_4 in Exclude<keyof I["tform"]["frameTformStairs"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_5 in Exclude<keyof I["tform"]["frameTformStairs"], keyof SE3Pose>]: never; }) | undefined;
            frameName?: string | undefined;
        } & { [K_6 in Exclude<keyof I["tform"], keyof StairTransform>]: never; }) | undefined;
        stairs?: ({
            rise?: number | undefined;
            run?: number | undefined;
        }[] & ({
            rise?: number | undefined;
            run?: number | undefined;
        } & {
            rise?: number | undefined;
            run?: number | undefined;
        } & { [K_7 in Exclude<keyof I["stairs"][number], keyof StraightStaircase_Stair>]: never; })[] & { [K_8 in Exclude<keyof I["stairs"], keyof {
            rise?: number | undefined;
            run?: number | undefined;
        }[]>]: never; }) | undefined;
        bottomLanding?: ({
            stairsTformLandingCenter?: {
                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;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } & {
            stairsTformLandingCenter?: ({
                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_9 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"]["position"], keyof import("./geometry").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_10 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_11 in Exclude<keyof I["bottomLanding"]["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } & { [K_12 in Exclude<keyof I["bottomLanding"], keyof StraightStaircase_Landing>]: never; }) | undefined;
        topLanding?: ({
            stairsTformLandingCenter?: {
                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;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } & {
            stairsTformLandingCenter?: ({
                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_13 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"]["position"], keyof import("./geometry").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_14 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
            } & { [K_15 in Exclude<keyof I["topLanding"]["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
            landingExtentX?: number | undefined;
            landingExtentY?: number | undefined;
        } & { [K_16 in Exclude<keyof I["topLanding"], keyof StraightStaircase_Landing>]: never; }) | undefined;
    } & { [K_17 in Exclude<keyof I, keyof StraightStaircase>]: never; }>(object: I): StraightStaircase;
};
export declare const StraightStaircase_Stair: {
    encode(message: StraightStaircase_Stair, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase_Stair;
    fromJSON(object: any): StraightStaircase_Stair;
    toJSON(message: StraightStaircase_Stair): unknown;
    fromPartial<I extends {
        rise?: number | undefined;
        run?: number | undefined;
    } & {
        rise?: number | undefined;
        run?: number | undefined;
    } & { [K in Exclude<keyof I, keyof StraightStaircase_Stair>]: never; }>(object: I): StraightStaircase_Stair;
};
export declare const StraightStaircase_Landing: {
    encode(message: StraightStaircase_Landing, writer?: _m0.Writer): _m0.Writer;
    decode(input: _m0.Reader | Uint8Array, length?: number): StraightStaircase_Landing;
    fromJSON(object: any): StraightStaircase_Landing;
    toJSON(message: StraightStaircase_Landing): unknown;
    fromPartial<I extends {
        stairsTformLandingCenter?: {
            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;
        landingExtentX?: number | undefined;
        landingExtentY?: number | undefined;
    } & {
        stairsTformLandingCenter?: ({
            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["stairsTformLandingCenter"]["position"], keyof import("./geometry").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["stairsTformLandingCenter"]["rotation"], keyof import("./geometry").Quaternion>]: never; }) | undefined;
        } & { [K_2 in Exclude<keyof I["stairsTformLandingCenter"], keyof SE3Pose>]: never; }) | undefined;
        landingExtentX?: number | undefined;
        landingExtentY?: number | undefined;
    } & { [K_3 in Exclude<keyof I, keyof StraightStaircase_Landing>]: never; }>(object: I): StraightStaircase_Landing;
};
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=stairs.d.ts.map