graph.py

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class Graph(object):
    def __init__(self):
        self.children = {}    # dictionnary giving the list of childrens for each node.
        self.q = []           # configuration associated to each node.
        self.connex = []      # ID of the connex component the node is belonging to.
        self.nconnex = 0      # number of connex components.
        self.existing_connex = [] # List of existing connex component ID.

    def add_node(self, q=None, new_connex=False):
        '''
        Create the memory to store a new edge. Initialize all components to None.
        Create an empty list of children.
        '''
        idx = len(self.children)
        self.children[idx] = []
        self.q.append(q)
        self.connex.append(None)
        if new_connex:
            self.new_connex(idx)
        return idx

    def add_edge(self, first, second, orientation=0):
        '''
        Add edge from first to second. Also add edge from second to first if orientation
        is null.
        '''
        assert(first in self.children and second in self.children)
        if orientation >= 0:
            self.children[first].append(second)
        if orientation <= 0:
            self.children[second].append(first)

    def new_connex(self, idx):
        '''
        Create a new connex component for node <idx>
        '''
        self.connex[idx] = self.nconnex
        self.existing_connex.append(self.nconnex)
        self.nconnex += 1

    def rename_connex(self, past, future):
        '''
        Change the index of the all the nodes belonging to a connex component.
        Useful when merging two connex components.
        '''
        try:
            self.existing_connex.remove(past)
            self.connex = [c if c != past else future for c in self.connex]
        except:
            pass

    def connexIndexes(self, connex):
        '''Return the list of all node indexes belonging to connex component <connex>.'''
        return [i for i, c in enumerate(self.connex) if c == connex]