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 

MotionSynthesizer
as argument

Namespace: Unity.Kinematica
Syntax
public struct TaskReference

Methods

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 : struct
Parameters
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 : struct
Parameters
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, Task
Returns
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 : struct
Returns
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
Unity.Kinematica.PushTask

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

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