Struct Binary.TrajectoryFragment

A trajectory fragment contains information necessary to perform similarity calculations between trajectories.

Namespace: Unity.Kinematica
Syntax
public struct TrajectoryFragment : IDisposable
Remarks

A trajectory is simply a sequence for root joint transforms forming a continuous path. Trajectories can either be expressed in world space according to the original animation data or relative to a sampling time.

A trajectory fragment can be constructed from any animation pose contained in the motion library. It requires a metric in order to extract the relevant information. The similarity calculation uses a weighted sum of features that includes root velocity, forward direction and optionally root displacements.

The main purpose of this class is to:

  • Create trajectory fragments from poses in the motion library.
  • Perform similarity calculation between trajectory fragments.

Fields

array

Denotes the feature array of this trajectory fragment.

Declaration
public NativeArray<float3> array
Field Value
Type Description
NativeArray<float3>

metricIndex

Denotes the metric index that this trajectory fragment belongs to.

Declaration
public Binary.MetricIndex metricIndex
Field Value
Type Description
Binary.MetricIndex

samplingTime

Denotes the sampling time that this trajectory fragment was generated from.

Declaration
public SamplingTime samplingTime
Field Value
Type Description
SamplingTime

Properties

Invalid

Represents an invalid trajectory fragment.

Declaration
public static Binary.TrajectoryFragment Invalid { get; }
Property Value
Type Description
Binary.TrajectoryFragment

IsValid

Determines whether or not this trajectory fragment is valid.

Declaration
public bool IsValid { get; }
Property Value
Type Description
Boolean

Item[Int32]

Gives access to the individual pose fragment features.

Declaration
public float3 this[int index] { get; }
Parameters
Type Name Description
Int32 index
Property Value
Type Description
float3

length

Denotes the size of the feature array.

Declaration
public int length { get; }
Property Value
Type Description
Int32

Methods

Dispose()

Disposes the underlying feature array.

Declaration
public void Dispose()

Equals(Binary.TrajectoryFragment, Single)

Determines whether a two trajectory fragments are equal.

Declaration
public bool Equals(Binary.TrajectoryFragment instance, float eps)
Parameters
Type Name Description
Binary.TrajectoryFragment instance

The trajectory fragment to compare against the current trajectory fragment.
Single eps

Tolerance value to indicate by how much the result can diverge before being considered unequal.
Returns
Type Description
Boolean

True if the trajectory fragment passed as argument is equal to the current trajectory fragment; otherwise, false.

GetRootDisplacement(ref Binary, Int32)

Returns root displacement of a trajectory sample, relative to the root transform of the character at fragment sampling time

Declaration
public float3 GetRootDisplacement(ref Binary binary, int index)
Parameters
Type Name Description
Binary binary
Int32 index

Index of the trajectory sample
Returns
Type Description
float3

GetRootForward(ref Binary, Int32)

Returns root forward vector of a trajectory sample, relative to the root transform of the character at fragment sampling time

Declaration
public float3 GetRootForward(ref Binary binary, int index)
Parameters
Type Name Description
Binary binary
Int32 index

Index of the trajectory sample
Returns
Type Description
float3

GetRootVelocity(ref Binary, Int32)

Returns root velocity of a trajectory sample, relative to the root transform of the character at fragment sampling time

Declaration
public float3 GetRootVelocity(ref Binary binary, int index)
Parameters
Type Name Description
Binary binary
Int32 index

Index of the trajectory sample
Returns
Type Description
float3