Struct TaskReference
Self sufficient task reference that can be used to access the task data and create children to that task without needing to pass the
MotionSynthesizerNamespace: Unity.Kinematica
Syntax
public struct TaskReferenceMethods
Action()
Creates a new action task as a child of the current task.
Declaration
public TaskReference Action()Returns
| Type | Description |
|---|---|
| TaskReference | reference to the newly created action task. |
Condition()
Creates a new condition task as a child of the current task.
Declaration
public TaskReference Condition()Returns
| Type | Description |
|---|---|
| TaskReference | reference to the newly created condition task. |
Create(MemoryIdentifier, MemoryRef<MotionSynthesizer>)
Declaration
public static TaskReference Create(MemoryIdentifier taskIdentifier, MemoryRef<MotionSynthesizer> synthesizer)Parameters
| Type | Name | Description |
|---|---|---|
| MemoryIdentifier | taskIdentifier | |
| MemoryRef<MotionSynthesizer> | synthesizer |
Returns
| Type | Description |
|---|---|
| TaskReference |
CreateChildData<T>(T)
Declaration
public Identifier<T> CreateChildData<T>(T data)
where T : structParameters
| Type | Name | Description |
|---|---|---|
| T | data |
Returns
| Type | Description |
|---|---|
| Identifier<T> |
Type Parameters
| Name | Description |
|---|---|
| T |
CreateChildDataArray<T>(MemoryArray<T>)
Declaration
public Identifier<T> CreateChildDataArray<T>(MemoryArray<T> data)
where T : structParameters
| Type | Name | Description |
|---|---|---|
| MemoryArray<T> | data |
Returns
| Type | Description |
|---|---|
| Identifier<T> |
Type Parameters
| Name | Description |
|---|---|
| T |
CreateChildTask<T>(T)
Declaration
public TaskReference CreateChildTask<T>(T task)
where T : struct, GenericTask<T>Parameters
| Type | Name | Description |
|---|---|---|
| T | task |
Returns
| Type | Description |
|---|---|
| TaskReference |
Type Parameters
| Name | Description |
|---|---|
| T |
CurrentPose()
Creates a new current pose task as a child of current task.
Declaration
public TaskReference CurrentPose()Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created current pose task. |
See Also
GetAs<T>()
Return the task object associated to this reference
Declaration
public T GetAs<T>()
where T : struct, TaskReturns
| Type | Description |
|---|---|
| T | task object associated to this reference |
Type Parameters
| Name | Description |
|---|---|
| T | Type of Task |
GetChildByType<T>()
Searches for a child node based on its type.
Declaration
public T GetChildByType<T>()
where T : structReturns
| Type | Description |
|---|---|
| T | Reference of the result. |
Type Parameters
| Name | Description |
|---|---|
| T |
Remarks
Retrieves a reference to a data type that is a direct or indirect child of current task
MatchFragment(Identifier<PoseSequence>)
Creates a new match fragment task as a child of current task.
Declaration
public TaskReference MatchFragment(Identifier<PoseSequence> sequences)Parameters
| Type | Name | Description |
|---|---|---|
| Identifier<PoseSequence> | sequences | The pose sequence that the match fragment task receives as input. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created match fragment task. |
See Also
MatchFragment(Identifier<PoseSequence>, Identifier<SamplingTime>, Identifier<Trajectory>, Single)
Creates a new match fragment task as a child of current task.
Declaration
public TaskReference MatchFragment(Identifier<PoseSequence> sequences, Identifier<SamplingTime> samplingTime, Identifier<Trajectory> trajectory, float threshold = 0F)Parameters
| Type | Name | Description |
|---|---|---|
| Identifier<PoseSequence> | sequences | The pose sequence that the match fragment task receives as input. |
| Identifier<SamplingTime> | samplingTime | Reference animation pose that the match fragment task will receive as input. |
| Identifier<Trajectory> | trajectory | The desired future trajectory that the match fragment task will receive as input. |
| Single | threshold | The threshold that the match fragment task will receive as input. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created match fragment task. |
See Also
MatchPose(QueryResult, Single)
Creates a new push task as a child of current task.
Declaration
public TaskReference MatchPose(QueryResult result, float threshold)Parameters
| Type | Name | Description |
|---|---|---|
| QueryResult | result | Pose sequence that will be passed to the implicitely created match fragment operation. |
| Single | threshold | Threshold that will be passed to the implicitely created match fragment operation. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created play at time task. |
Remarks
This is a convenience method that implicitely creates a match fragment task for the query result that is passed as argument. The match fragment 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
MatchPoseAndTrajectory(QueryResult, Identifier<Trajectory>)
Creates a new push task as a child of current task.
Declaration
public TaskReference MatchPoseAndTrajectory(QueryResult result, Identifier<Trajectory> trajectory)Parameters
| Type | Name | Description |
|---|---|---|
| QueryResult | result | Pose sequence that will be passed to the implicitely created match fragment operation. |
| Identifier<Trajectory> | trajectory | Trajectory that will be passed to the implicitely created match fragment operation. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created play at time task. |
Remarks
This is a convenience method that implicitely creates a match fragment task for the query result that is passed as argument. The match fragment 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
Navigation()
Creates a new navigation task as child of current task
Declaration
public TaskReference Navigation()Returns
| Type | Description |
|---|---|
| TaskReference | Reference of navigation task |
Parallel()
Creates a new parallel task as a child of the current task.
Declaration
public TaskReference Parallel()Returns
| Type | Description |
|---|---|
| TaskReference | reference to the newly created parallel task. |
PlayAtTime(Identifier<TimeIndex>)
Creates a new play at time task as a child of current task.
Declaration
public TaskReference PlayAtTime(Identifier<TimeIndex> samplingTime)Parameters
| Type | Name | Description |
|---|---|---|
| Identifier<TimeIndex> | samplingTime | The sampling time that the push task receives as input. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created play at time task. |
See Also
PlayAtTime(TimeIndex)
Creates a new play at time task as a child of current task.
Declaration
public TaskReference PlayAtTime(TimeIndex samplingTime)Parameters
| Type | Name | Description |
|---|---|---|
| TimeIndex | samplingTime | The sampling time that the push task receives as input. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created play at time task. |
See Also
PlayFirstSequence(QueryResult)
Creates a new play at time task as a child of current task.
Declaration
public TaskReference PlayFirstSequence(QueryResult result)Parameters
| Type | Name | Description |
|---|---|---|
| QueryResult | result | Pose sequence that will be passed to the implicitely created match fragment operation. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created play at time task. |
Remarks
This is a convenience method that implicitely creates a match fragment task for the query result that is passed as argument. Since in this case the match fragment 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
QueryResult(QueryResult)
Creates a new pose sequence.
Declaration
public Identifier<PoseSequence> QueryResult(QueryResult result)Parameters
| Type | Name | Description |
|---|---|---|
| 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 match fragment task. The pose sequence will be initialized based on the query result passed as argument.
See Also
SamplingTime()
Creates a new sampling time.
Declaration
public Identifier<SamplingTime> SamplingTime()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(SamplingTime)
Creates a new sampling time.
Declaration
public Identifier<SamplingTime> SamplingTime(SamplingTime samplingTime)Parameters
| Type | Name | Description |
|---|---|---|
| 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()
Creates a new selector task as a child of the current task.
Declaration
public TaskReference Selector()Returns
| Type | Description |
|---|---|
| TaskReference | reference to the newly created selector task. |
Sequence(Boolean, Boolean)
Creates a new sequence task as a child of the current task.
Declaration
public TaskReference Sequence(bool loop = false, bool resetWhenNotExecuted = true)Parameters
| Type | Name | Description |
|---|---|---|
| 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 |
|---|---|
| TaskReference | reference to the newly created sequence task. |
TimeIndex()
Creates a new time index.
Declaration
public Identifier<TimeIndex> TimeIndex()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(TimeIndex)
Creates a new time index.
Declaration
public Identifier<TimeIndex> TimeIndex(TimeIndex timeIndex)Parameters
| Type | Name | Description |
|---|---|---|
| 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(Single)
Creates a new timer task as a child of current task.
Declaration
public TaskReference Timer(float timeInSeconds = 0F)Parameters
| Type | Name | Description |
|---|---|---|
| Single | timeInSeconds | Time in seconds that will be used as initial value for the timer task. |
Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created timer task. |
Trajectory()
Creates a new trajectory.
Declaration
public Identifier<Trajectory> Trajectory()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(Identifier<TimeIndex>, Identifier<Trajectory>)
Creates a new trajectory heuristic task as a child of current task.
Declaration
public TaskReference TrajectoryHeuristic(Identifier<TimeIndex> candidate, Identifier<Trajectory> trajectory)Parameters
| Type | Name | Description |
|---|---|---|
| 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 |
|---|---|
| TaskReference | Reference to the newly created trajectory heuristic task. |
See Also
TrajectoryPrediction()
Creates a new trajectory prediction task as a child of current task.
Declaration
public TaskReference TrajectoryPrediction()Returns
| Type | Description |
|---|---|
| TaskReference | Reference to the newly created trajectory prediction task. |
Operators
Implicit(TaskReference to MemoryIdentifier)
Declaration
public static implicit operator MemoryIdentifier(TaskReference taskReference)Parameters
| Type | Name | Description |
|---|---|---|
| TaskReference | taskReference |
Returns
| Type | Description |
|---|---|
| MemoryIdentifier |