ChildTree

src.python_motion_planning.common.utils.child_tree.ChildTree

Source code in src\python_motion_planning\common\utils\child_tree.py

Python

class ChildTree:
    def __init__(self):
        self.tree = {}

    def __getitem__(self, point: tuple) -> Union[set, None]:
        return self.tree.get(point)

    def add(self, point: tuple, child_point: tuple) -> None:
        if self.tree.get(point) is None:
            self.tree[point] = set()
        self.tree[point].add(child_point)

    def remove(self, point: tuple, child_point: tuple) -> None:
        if self.tree.get(point) is not None:
            self.tree[point].discard(child_point)