SumTree

python_motion_planning.local_planner.dqn.SumTree

Sum tree structure.

Parameters:

Name	Type	Description	Default
capacity	int	buffer capacity (must be even)	required

add(p, data)

Adding data with priorities to the sum tree.

Parameters:

Name	Type	Description	Default
p	int	priority	required
data	tuple	data	required

get(s)

Obtaining leaf node data based on the sampled value.

Parameters:

Name	Type	Description	Default
s	int	sampling priority	required

total()

Returning the root node, i.e., the total priority weight.

update(idx, p)

Update data of the sum tree.

Parameters:

Name	Type	Description	Default
idx	int	tree node index	required
p	int	priority	required