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)