Struct Query

Entry point for semantic filtering based query language.

Namespace: Unity.Kinematica
Syntax
public struct Query
Remarks

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 : struct
Returns
Type Description
QueryMarkerExpression
Type Parameters
Name Description
T

At<T>()

Declaration
public QueryMarkerExpression At<T>()
    where T : struct
Returns
Type Description
QueryMarkerExpression
Type Parameters
Name Description
T

Before<T>()

Declaration
public QueryMarkerExpression Before<T>()
    where T : struct
Returns
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 : struct
Parameters
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));

See Also

See Also