from cmvr.config import srs_ik_config_pb2 as _srs_ik_config_pb2
from google.protobuf import descriptor as _descriptor
from google.protobuf import message as _message
from collections.abc import Mapping as _Mapping
from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union

DESCRIPTOR: _descriptor.FileDescriptor

class LawbaIKConfig(_message.Message):
    __slots__ = ("srs_config", "lambda_q", "cur_branch_cost_threshold", "opt_psi_update_alpha", "opt_psi_max_delta", "opt_psi_min", "opt_psi_eps")
    SRS_CONFIG_FIELD_NUMBER: _ClassVar[int]
    LAMBDA_Q_FIELD_NUMBER: _ClassVar[int]
    CUR_BRANCH_COST_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
    OPT_PSI_UPDATE_ALPHA_FIELD_NUMBER: _ClassVar[int]
    OPT_PSI_MAX_DELTA_FIELD_NUMBER: _ClassVar[int]
    OPT_PSI_MIN_FIELD_NUMBER: _ClassVar[int]
    OPT_PSI_EPS_FIELD_NUMBER: _ClassVar[int]
    srs_config: _srs_ik_config_pb2.SrsIKConfig
    lambda_q: float
    cur_branch_cost_threshold: float
    opt_psi_update_alpha: float
    opt_psi_max_delta: float
    opt_psi_min: float
    opt_psi_eps: float
    def __init__(self, srs_config: _Optional[_Union[_srs_ik_config_pb2.SrsIKConfig, _Mapping]] = ..., lambda_q: _Optional[float] = ..., cur_branch_cost_threshold: _Optional[float] = ..., opt_psi_update_alpha: _Optional[float] = ..., opt_psi_max_delta: _Optional[float] = ..., opt_psi_min: _Optional[float] = ..., opt_psi_eps: _Optional[float] = ...) -> None: ...
