Struct Query
Entry point for semantic filtering based query language.
Namespace: Unity.Kinematica
Syntax
public struct QueryRemarks
Methods in this struct serve as an entry point for query language based constructs. A query performs semantic filtering of the motion library. The result of this filtering process is always a pose sequence, which represents the poses that match the criterias used as constraints.
Constraints can be stacked by adding multiple constraints to the filter expression. An expression always starts with zero or more filters based on tag traits and ends with zero or more filters that are based on marker traits.
Task creation methods offered by the motion synthesizer typically consume pose sequences directly and subsequently select a single pose out of the input sequence based on certain criterias, like matching a given reference pose and/or matching a given input trajectory.
var result = synthesizer.Query.Where(
Locomotion.Default).And(Idle.Default));Methods
After<T>()
Declaration
public QueryMarkerExpression After<T>()
where T : structReturns
| Type | Description |
|---|---|
| QueryMarkerExpression |
Type Parameters
| Name | Description |
|---|---|
| T |
At<T>()
Declaration
public QueryMarkerExpression At<T>()
where T : structReturns
| Type | Description |
|---|---|
| QueryMarkerExpression |
Type Parameters
| Name | Description |
|---|---|
| T |
Before<T>()
Declaration
public QueryMarkerExpression Before<T>()
where T : structReturns
| Type | Description |
|---|---|
| QueryMarkerExpression |
Type Parameters
| Name | Description |
|---|---|
| T |
Where<T>(T)
Introduces a tag trait expression that selects based on a "where" clause.
Declaration
public QueryTraitExpression Where<T>(T value)
where T : structParameters
| Type | Name | Description |
|---|---|---|
| T | value | The trait values to be used as constraint. |
Returns
| Type | Description |
|---|---|
| QueryTraitExpression |
Type Parameters
| Name | Description |
|---|---|
| T |
Remarks
A "where" clause matches all intervals from the motion library
that contain the trait passed as argument.
synthesizer.Query.Where(Climbing.Create(Climbing.Type.Wall));