Struct TrajectoryHeuristicTask

The trajectory heuristic task compares the trajectories of a current and candidate pose to a desired trajectory.

Namespace: Unity.Kinematica

Syntax

[Data("TrajectoryHeuristic", "#2A3756", DataType.Flag.None)]
public struct TrajectoryHeuristicTask : Task

Fields

candidate

Denotes the candidate time index to be used for the heuristic evaluation.

Declaration

[Input("Candidate Time")]
public Identifier<TimeIndex> candidate

Field Value

Type	Description
Identifier<TimeIndex>

desiredTrajectory

Denotes the desired trajectory to be used for the heuristic evaluation.

Declaration

[Input("Desired trajectory")]
public Identifier<Trajectory> desiredTrajectory

Field Value

Type	Description
Identifier<Trajectory>

threshold

Denotes the relative threshold to be used for the heuristic evaluation.

Declaration

public float threshold

Field Value

Type	Description
Single

timeIndex

Denotes the current time index to be used for the heuristic evaluation.

Declaration

[Output("Time Index")]
public Identifier<TimeIndex> timeIndex

Field Value

Type	Description
Identifier<TimeIndex>

Methods

Execute()

Execute method for the trajectory heuristic task.

Declaration

public Result Execute()

Returns

Type	Description
Result	Result success if the candidate pose performs better the current pose subject to the desired trajectory; Failure otherwise.

Implements

Task.Execute()

Remarks

Animation poses implicitely define a future trajectory by looking at the subsequent root transforms given a reference pose. The trajectory heuristic task compares the trajectories of a current and candidate pose to a desired trajectory. It returns Success if the candidate trajectory performs better than the current trajectory subject to a user defined threshold. The purpose of this heuristic is to avoid pushing a new sampling time to the motion synthesizer too frequently. Ideally the goal is to only switch to a new sampling time if a potential candidate performs much better than the sampling time that is currently active.

ExecuteSelf(ref TaskRef)

Surrogate method for automatic task execution.

Declaration

public static Result ExecuteSelf(ref TaskRef self)

Parameters

Type	Name	Description
TaskRef	self	Task reference that is supposed to be executed.

Returns

Type	Description
Result	Result of the task execution.