Class TaskExtensions

Static class that contains various extension methods that allow tasks to be created. Tasks in turn offer similar methods that allow for a concise notion when creation arbitrary complex task graphs.

Inheritance
Object
TaskExtensions
Namespace: Unity.Kinematica
Syntax
public static class TaskExtensions

Methods

Action(MotionSynthesizer)

Creates a new action task as a child of the root task.

Declaration
public static ActionTask Action(this MotionSynthesizer synthesizer)
Parameters
Type Name Description
MotionSynthesizer synthesizer
Returns
Type Description
ActionTask

Reference to the newly created action task.
See Also

Action(MotionSynthesizer, MemoryIdentifier)

Creates a new action task as a child of the parent task passed as argument.

Declaration
public static ActionTask Action(this MotionSynthesizer synthesizer, MemoryIdentifier parent)
Parameters
Type Name Description
MotionSynthesizer synthesizer
MemoryIdentifier parent

Identifier of the parent task.
Returns
Type Description
ActionTask

Reference to the newly created action task.

Condition(MotionSynthesizer)

Creates a new condition task as a child of the root task.

Declaration
public static ConditionTask Condition(this MotionSynthesizer synthesizer)
Parameters
Type Name Description
MotionSynthesizer synthesizer
Returns
Type Description
ConditionTask

Reference to the newly created condition task.
See Also

Condition(MotionSynthesizer, MemoryIdentifier)

Creates a new condition task as a child of the parent task passed as argument.

Declaration
public static ConditionTask Condition(this MotionSynthesizer synthesizer, MemoryIdentifier parent)
Parameters
Type Name Description
MotionSynthesizer synthesizer
MemoryIdentifier parent

Identifier of the parent task.
Returns
Type Description
ConditionTask

Reference to the newly created condition task.

CurrentPose(ActionTask)

Creates a new current pose task as a child of an action.

Declaration
public static CurrentPoseTask CurrentPose(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
CurrentPoseTask

Reference to the newly created current pose task.
See Also

GetByType<T>(ActionTask)

Retrieves a reference to a task or data based on the generic type.

Declaration
public static T GetByType<T>(this ActionTask action)
    where T : struct
Parameters
Type Name Description
ActionTask action
Returns
Type Description
T

Reference to a task or data that matches the generic type.
Type Parameters
Name Description
T

Navigation(ActionTask)

Declaration
public static NavigationTask Navigation(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
NavigationTask

Parallel(MotionSynthesizer)

Creates a new parallel task as a child of the root task.

Declaration
public static ParallelTask Parallel(this MotionSynthesizer synthesizer)
Parameters
Type Name Description
MotionSynthesizer synthesizer
Returns
Type Description
ParallelTask

Reference to the newly created parallel task.
See Also

Parallel(MotionSynthesizer, MemoryIdentifier)

Creates a new parallel task as a child of the parent task passed as argument.

Declaration
public static ParallelTask Parallel(this MotionSynthesizer synthesizer, MemoryIdentifier parent)
Parameters
Type Name Description
MotionSynthesizer synthesizer
MemoryIdentifier parent

Identifier of the parent task.
Returns
Type Description
ParallelTask

Reference to the newly created parallel task.

Push(ActionTask, Identifier<TimeIndex>)

Creates a new push task as a child of an action.

Declaration
public static PushTask Push(this ActionTask action, Identifier<TimeIndex> samplingTime)
Parameters
Type Name Description
ActionTask action
Identifier<TimeIndex> samplingTime

The sampling time that the push task receives as input.
Returns
Type Description
PushTask

Reference to the newly created push task.
See Also

Push(ActionTask, QueryResult)

Creates a new push task as a child of an action.

Declaration
public static PushTask Push(this ActionTask action, QueryResult result)
Parameters
Type Name Description
ActionTask action
QueryResult result

Pose sequence that will be passed to the implicitely created reduce operation.
Returns
Type Description
PushTask

Reference to the newly created push task.
Remarks

This is a convenience method that implicitely creates a reduce task for the query result that is passed as argument. Since in this case the reduce task will not receive any constraints it will simply select the first pose of the query result. This method allows to push the first pose of a query result to the motion synthesizer.

See Also

Push(ActionTask, TimeIndex)

Creates a new push task as a child of an action.

Declaration
public static PushTask Push(this ActionTask action, TimeIndex samplingTime)
Parameters
Type Name Description
ActionTask action
TimeIndex samplingTime

The sampling time that the push task receives as input.
Returns
Type Description
PushTask

Reference to the newly created push task.
See Also

PushConstrained(ActionTask, QueryResult, Single)

Creates a new push task as a child of an action.

Declaration
public static PushTask PushConstrained(this ActionTask action, QueryResult result, float threshold)
Parameters
Type Name Description
ActionTask action
QueryResult result

Pose sequence that will be passed to the implicitely created reduce operation.
Single threshold

Threshold that will be passed to the implicitely created reduce operation.
Returns
Type Description
PushTask

Reference to the newly created push task.
Remarks

This is a convenience method that implicitely creates a reduce task for the query result that is passed as argument. The reduce task will be set up such that it selects the animation pose that is most similar to the current pose of the synthesizer.

See Also

PushConstrained(ActionTask, QueryResult, Identifier<Trajectory>)

Creates a new push task as a child of an action.

Declaration
public static PushTask PushConstrained(this ActionTask action, QueryResult result, Identifier<Trajectory> trajectory)
Parameters
Type Name Description
ActionTask action
QueryResult result

Pose sequence that will be passed to the implicitely created reduce operation.
Identifier<Trajectory> trajectory

Trajectory that will be passed to the implicitely created reduce operation.
Returns
Type Description
PushTask

Reference to the newly created push task.
Remarks

This is a convenience method that implicitely creates a reduce task for the query result that is passed as argument. The reduce task will be set up such that it selects the animation pose that is most similar to the current pose of the synthesizer and the desired trajectory that is passed as argument.

See Also

QueryResult(ActionTask, QueryResult)

Creates a new pose sequence.

Declaration
public static Identifier<PoseSequence> QueryResult(this ActionTask action, QueryResult result)
Parameters
Type Name Description
ActionTask action
QueryResult result

Query result that is to be used as initial value of the pose sequence.
Returns
Type Description
Identifier<PoseSequence>

Reference to the newly created pose sequence.
Remarks

This method allows the creation of a pose sequence that can be fed into a reduce task. The pose sequence will be initialized based on the query result passed as argument.

See Also

Reduce(ActionTask, Identifier<PoseSequence>)

Creates a new reduce task as a child of an action.

Declaration
public static ReduceTask Reduce(this ActionTask action, Identifier<PoseSequence> sequences)
Parameters
Type Name Description
ActionTask action
Identifier<PoseSequence> sequences

The pose sequence that the reduce task receives as input.
Returns
Type Description
ReduceTask

Reference to the newly created reduce task.
See Also

Reduce(ActionTask, Identifier<PoseSequence>, Identifier<SamplingTime>, Identifier<Trajectory>, Single)

Creates a new reduce task as a child of an action.

Declaration
public static ReduceTask Reduce(this ActionTask action, Identifier<PoseSequence> sequences, Identifier<SamplingTime> samplingTime, Identifier<Trajectory> trajectory, float threshold = 0F)
Parameters
Type Name Description
ActionTask action
Identifier<PoseSequence> sequences

The pose sequence that the reduce task receives as input.
Identifier<SamplingTime> samplingTime

Reference animation pose that the reduce task will receive as input.
Identifier<Trajectory> trajectory

The desired future trajectory that the reduce task will receive as input.
Single threshold

The threshold that the reduce task will receive as input.
Returns
Type Description
ReduceTask

Reference to the newly created reduce task.
See Also

SamplingTime(ActionTask)

Creates a new sampling time.

Declaration
public static Identifier<SamplingTime> SamplingTime(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
Identifier<SamplingTime>

Reference to the newly created sampling time.
Remarks

The value of the newly created sampling time will be set to invalid.

SamplingTime(ActionTask, SamplingTime)

Creates a new sampling time.

Declaration
public static Identifier<SamplingTime> SamplingTime(this ActionTask action, SamplingTime samplingTime)
Parameters
Type Name Description
ActionTask action
SamplingTime samplingTime

Sampling time value that is to be used as initial value.
Returns
Type Description
Identifier<SamplingTime>

Reference to the newly created sampling time.
Remarks

The value of the newly created sampling time will be set to the sampling time passed as argument.

Selector(MotionSynthesizer)

Creates a new selector task as a child of the root task.

Declaration
public static SelectorTask Selector(this MotionSynthesizer synthesizer)
Parameters
Type Name Description
MotionSynthesizer synthesizer
Returns
Type Description
SelectorTask

Reference to the newly created selector task.
See Also

Selector(MotionSynthesizer, MemoryIdentifier)

Creates a new selector task as a child of the parent task passed as argument.

Declaration
public static SelectorTask Selector(this MotionSynthesizer synthesizer, MemoryIdentifier parent)
Parameters
Type Name Description
MotionSynthesizer synthesizer
MemoryIdentifier parent

Identifier of the parent task.
Returns
Type Description
SelectorTask

Reference to the newly created selector task.

Sequence(MotionSynthesizer, Boolean, Boolean)

Creates a new sequence task as a child of the root task.

Declaration
public static SequenceTask Sequence(this MotionSynthesizer synthesizer, bool loop = false, bool resetWhenNotExecuted = true)
Parameters
Type Name Description
MotionSynthesizer synthesizer
Boolean loop

If false, once the sequence has finished executing all its children, it will do nothing and just return success. If true, sequence will reexecute all its children tasks indefinitely.
Boolean resetWhenNotExecuted

If true, and if the sequence isn't executed during one task graph pass, next time the sequence will be executed again, it will restart execution from its first child.
Returns
Type Description
SequenceTask

Reference to the newly created sequence task.
See Also

Sequence(MotionSynthesizer, MemoryIdentifier, Boolean, Boolean)

Creates a new sequence task as a child of the parent task passed as argument.

Declaration
public static SequenceTask Sequence(this MotionSynthesizer synthesizer, MemoryIdentifier parent, bool loop = false, bool resetWhenNotExecuted = true)
Parameters
Type Name Description
MotionSynthesizer synthesizer
MemoryIdentifier parent

Identifier of the parent task.
Boolean loop

If false, once the sequence has finished executing all its children, it will do nothing and just return success. If true, sequence will reexecute all its children tasks indefinitely.
Boolean resetWhenNotExecuted

If true, and if the sequence isn't executed during one task graph pass, next time the sequence will be executed again, it will restart execution from its first child.
Returns
Type Description
SequenceTask

Reference to the newly created sequence task.

TimeIndex(ActionTask)

Creates a new time index.

Declaration
public static Identifier<TimeIndex> TimeIndex(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
Identifier<TimeIndex>

Reference to the newly created time index.
Remarks

The value of the newly created time index will be set to invalid.

TimeIndex(ActionTask, TimeIndex)

Creates a new time index.

Declaration
public static Identifier<TimeIndex> TimeIndex(this ActionTask action, TimeIndex timeIndex)
Parameters
Type Name Description
ActionTask action
TimeIndex timeIndex

Time index value that is to be used as initial value.
Returns
Type Description
Identifier<TimeIndex>

Reference to the newly created time index.
Remarks

The value of the newly created time index will be set to the time index passed as argument.

Timer(ActionTask, Single)

Creates a new timer task as a child of an action.

Declaration
public static MemoryIdentifier Timer(this ActionTask action, float timeInSeconds = 0F)
Parameters
Type Name Description
ActionTask action
Single timeInSeconds

Time in seconds that will be used as initial value for the timer task.
Returns
Type Description
MemoryIdentifier

Reference to the newly created timer task.

Trajectory(ActionTask)

Creates a new trajectory.

Declaration
public static Identifier<Trajectory> Trajectory(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
Identifier<Trajectory>

Reference to the newly created trajectory.
Remarks

This method allows the creation of a trajectory that can be used for any task that requires a reference to a trajectory.

TrajectoryHeuristic(ActionTask, Identifier<TimeIndex>, Identifier<Trajectory>)

Creates a new trajectory heuristic task as a child of an action.

Declaration
public static TrajectoryHeuristicTask TrajectoryHeuristic(this ActionTask action, Identifier<TimeIndex> candidate, Identifier<Trajectory> trajectory)
Parameters
Type Name Description
ActionTask action
Identifier<TimeIndex> candidate

The candidate time index that the trajectory heuristic task receives as input.
Identifier<Trajectory> trajectory

The trajectory that the trajectory heuristic task receives as input.
Returns
Type Description
TrajectoryHeuristicTask

Reference to the newly created trajectory heuristic task.
See Also

TrajectoryPrediction(ActionTask)

Creates a new trajectory prediction task as a child of an action.

Declaration
public static TrajectoryPredictionTask TrajectoryPrediction(this ActionTask action)
Parameters
Type Name Description
ActionTask action
Returns
Type Description
TrajectoryPredictionTask

Reference to the newly created trajectory prediction task.