





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
__A							:			Any         =			0

__A							:			Any         =			[
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

__A							:			str         =			[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

__A							:			int         =			tuple[int, int]







class      lowerCamelCase:
     '''simple docstring'''


     def __init__(    self				,     snake_case_				,     snake_case_				,     snake_case_				,     snake_case_				,     snake_case_				,     snake_case_				,     ):
         _A     =							pos_x
         _A     =							pos_y
         _A     =							(pos_y, pos_x)
         _A     =							goal_x
         _A     =							goal_y
         _A     =							g_cost
         _A     =							parent
         _A     =							self.calculate_heuristic()
         _A     =							self.g_cost + self.h_cost




     def        lowerCAmelCase__		(    self							):
         _A     =							self.pos_x - self.goal_x
         _A     =							self.pos_y - self.goal_y
         if HEURISTIC == 1:
             return abs(snake_case_							) + abs(snake_case_							)
         else:
             return sqrt(dy**2 + dx**2							)




     def __lt__(    self				,     snake_case_							):
         return self.f_cost < other.f_cost







class      lowerCamelCase:
     '''simple docstring'''


     def __init__(    self				,     snake_case_				,     snake_case_							):
         _A     =							Node(start[1]				,     start[0]				,     goal[1]				,     goal[0]				,     0				,     snake_case_							)
         _A     =							Node(goal[1]				,     goal[0]				,     goal[1]				,     goal[0]				,     9_9999				,     snake_case_							)

         _A     =							[self.start]
         _A     =							[]

         _A     =							False




     def        lowerCAmelCase__		(    self							):
         while self.open_nodes:
             # Open Nodes are sorted using __lt__
             self.open_nodes.sort()
             _A     =							self.open_nodes.pop(0							)

             if current_node.pos == self.target.pos:
                 return self.retrace_path(snake_case_							)

             self.closed_nodes.append(snake_case_							)
             _A     =							self.get_successors(snake_case_							)

             for child_node in successors:
                 if child_node in self.closed_nodes:
                     continue

                 if child_node not in self.open_nodes:
                     self.open_nodes.append(snake_case_							)
                 else:
                     # retrieve the best current path
                     _A     =							self.open_nodes.pop(self.open_nodes.index(snake_case_							)							)

                     if child_node.g_cost < better_node.g_cost:
                         self.open_nodes.append(snake_case_							)
                     else:
                         self.open_nodes.append(snake_case_							)

         return [self.start.pos]




     def        lowerCAmelCase__		(    self				,     snake_case_							):
         _A     =							[]
         for action in delta:
             _A     =							parent.pos_x + action[1]
             _A     =							parent.pos_y + action[0]
             if not (0 <= pos_x <= len(grid[0]							) - 1 and 0 <= pos_y <= len(snake_case_							) - 1):
                 continue

             if grid[pos_y][pos_x] != 0:
                 continue

             successors.append(
                 Node(
                     snake_case_				,     snake_case_				,     self.target.pos_y				,     self.target.pos_x				,     parent.g_cost + 1				,     snake_case_				,     )							)
         return successors




     def        lowerCAmelCase__		(    self				,     snake_case_							):
         _A     =							node
         _A     =							[]
         while current_node is not None:
             path.append((current_node.pos_y, current_node.pos_x)							)
             _A     =							current_node.parent
         path.reverse()
         return path







class      lowerCamelCase:
     '''simple docstring'''


     def __init__(    self				,     snake_case_				,     snake_case_							):
         _A     =							AStar(snake_case_				,     snake_case_							)
         _A     =							AStar(snake_case_				,     snake_case_							)
         _A     =							False




     def        lowerCAmelCase__		(    self							):
         while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
             self.fwd_astar.open_nodes.sort()
             self.bwd_astar.open_nodes.sort()
             _A     =							self.fwd_astar.open_nodes.pop(0							)
             _A     =							self.bwd_astar.open_nodes.pop(0							)

             if current_bwd_node.pos == current_fwd_node.pos:
                 return self.retrace_bidirectional_path(
                     snake_case_				,     snake_case_							)

             self.fwd_astar.closed_nodes.append(snake_case_							)
             self.bwd_astar.closed_nodes.append(snake_case_							)

             _A     =							current_bwd_node
             _A     =							current_fwd_node

             _A     =							{
                 self.fwd_astar: self.fwd_astar.get_successors(snake_case_							),
                 self.bwd_astar: self.bwd_astar.get_successors(snake_case_							),
             }

             for astar in [self.fwd_astar, self.bwd_astar]:
                 for child_node in successors[astar]:
                     if child_node in astar.closed_nodes:
                         continue

                     if child_node not in astar.open_nodes:
                         astar.open_nodes.append(snake_case_							)
                     else:
                         # retrieve the best current path
                         _A     =							astar.open_nodes.pop(
                             astar.open_nodes.index(snake_case_							)							)

                         if child_node.g_cost < better_node.g_cost:
                             astar.open_nodes.append(snake_case_							)
                         else:
                             astar.open_nodes.append(snake_case_							)

         return [self.fwd_astar.start.pos]




     def        lowerCAmelCase__		(    self				,     snake_case_				,     snake_case_							):
         _A     =							self.fwd_astar.retrace_path(snake_case_							)
         _A     =							self.bwd_astar.retrace_path(snake_case_							)
         bwd_path.pop()
         bwd_path.reverse()
         _A     =							fwd_path + bwd_path
         return path


if __name__ == "__main__":
 # all coordinates are given in format [y,x]
 __A							:			str         =			(0, 0)
 __A							:			int         =			(len(grid) - 1, len(grid[0]) - 1)
 for elem in grid:
  print(elem)

 __A							:			Union[str, Any]         =			time.time()
 __A							:			Any         =			AStar(init, goal)
 __A							:			Optional[Any]         =			a_star.search()
 __A							:			Dict         =			time.time() - start_time
 print(f"AStar execution time = {end_time:f} seconds")

 __A							:			Tuple         =			time.time()
 __A							:			str         =			BidirectionalAStar(init, goal)
 __A							:			Union[str, Any]         =			time.time() - bd_start_time
 print(f"BidirectionalAStar execution time = {bd_end_time:f} seconds")







def      UpperCamelCase   (       __lowerCamelCase	:					str = "The quick brown fox jumps over the lazy dog"							,   ):
       snake_case			:  Dict     							= set()

       # Replace all the whitespace in our sentence
       snake_case			:  List[Any]     							= input_str.replace(" "							,   ""       )
       for alpha in input_str:
              if "a" <= alpha.lower() <= "z":
                     frequency.add(alpha.lower()       )
       return len(__lowerCamelCase       ) == 26


def      UpperCamelCase   (       __lowerCamelCase	:					str = "The quick brown fox jumps over the lazy dog"							,   ):
       snake_case			:  Optional[int]     							= [False] * 26
       for char in input_str:
              if char.islower():
                     snake_case			:  Dict     							= True
              elif char.isupper():
                     snake_case			:  Optional[Any]     							= True
       return all(__lowerCamelCase       )


def      UpperCamelCase   (       __lowerCamelCase	:					str = "The quick brown fox jumps over the lazy dog"							,   ):
       return len({char for char in input_str.lower() if char.isalpha()}       ) == 26


def      UpperCamelCase   (       ):
       from timeit import timeit

       snake_case			:  Tuple     							= "from __main__ import is_pangram, is_pangram_faster, is_pangram_fastest"
       print(timeit("is_pangram()"							,   setup=__lowerCamelCase       )       )
       print(timeit("is_pangram_faster()"							,   setup=__lowerCamelCase       )       )
       print(timeit("is_pangram_fastest()"							,   setup=__lowerCamelCase       )       )
       # 5.348480500048026, 2.6477354579837993, 1.8470395830227062
       # 5.036091582966037, 2.644472333951853,  1.8869528750656173


if __name__ == "__main__":
   import doctest

   doctest.testmod()
   benchmark()





