class SimpleTree:
def __init__(self, dim):
self._parents_map = {}
self._kd = KDTree(dim)
def __len__(self):
return len(self._kd)
def insert_new_node(self, point, parent=None):
node_id = self._kd.insert(point)
self._parents_map[node_id] = parent
return node_id
def get_parent(self, child_id):
return self._parents_map[child_id]
def get_point(self, node_id):
return self._kd.get_node(node_id).point
def get_nearest_node(self, point):
return self._kd.find_nearest_point(point)
def construct_path_to_root(self, leaf_node_id):
path = []
node_id = leaf_node_id
while node_id is not None:
path.append(self.get_point(node_id))
node_id = self.get_parent(node_id)
return path
def get_num_nodes(self):
return len(self._parents_map)
class SimpleGraph:
def __init__(self, dim, capacity=100000):
self._edges = collections.defaultdict(list)
self._kd = KDTree(dim, capacity)
self.start_id = None
self.target_id = None
def __len__(self):
return len(self._kd)
def insert_new_node(self, point):
node_id = self._kd.insert(point)
return node_id
def add_edge(self, node_id, neighbor_id):
self._edges[node_id].append(neighbor_id)
self._edges[neighbor_id].append(node_id)
def get_parent(self, child_id):
return self._edges[child_id]
def get_point(self, node_id):
return self._kd.get_node(node_id).point
def get_nearest_node(self, point):
return self._kd.find_nearest_point(point)
def get_neighbor_within_radius(self, point, radius):
"""
Return a list of node_id within the radius
"""
return self._kd.find_points_within_radius(point, radius)
class SimpleTree:
def __init__(self, dim):
self._parents_map = {}
self._kd = KDTree(dim)
def insert_new_node(self, point, parent=None):
node_id = self._kd.insert(point)
self._parents_map[node_id] = parent
return node_id
def get_parent(self, child_id):
return self._parents_map[child_id]
def get_point(self, node_id):
return self._kd.get_node(node_id).point
def get_nearest_node(self, point):
return self._kd.find_nearest_point(point)
