Source code for pykin.planners.tree

import numpy as np

[docs]class Tree: """ Tree class """ def __init__(self): self.vertices = [] self.edges = []
[docs] def add_vertex(self, q_joints): """ Add q_joints in vertices """ self.vertices.append(q_joints)
[docs] def add_edge(self, q_joints_idx): """ Add vertex indexes(parent, child) in edges """ self.edges.append(q_joints_idx)