





'''simple docstring'''

from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowercase__		:     Union[str, Any]			=							0

lowercase__		:     Optional[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],
]

lowercase__		:     Optional[int]			=							[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

lowercase__		:     Any			=							tuple[int, int]
class 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						Optional[int]			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						Node | None			,					)       ->	None:

            '''simple docstring'''




            _UpperCamelCase							       =			pos_x
            _UpperCamelCase							       =			pos_y
            _UpperCamelCase							       =			(pos_y, pos_x)
            _UpperCamelCase							       =			goal_x
            _UpperCamelCase							       =			goal_y
            _UpperCamelCase							       =			g_cost
            _UpperCamelCase							       =			parent
            _UpperCamelCase							       =			self.calculate_heuristic()
            _UpperCamelCase							       =			self.g_cost + self.h_cost





       def snake_case__		(				self  :						Union[str, Any]	)       ->	float:

            '''simple docstring'''




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







       def __lt__(				self  :						str			,					lowerCAmelCase__  :						Node	)       ->	bool:

            '''simple docstring'''




            return self.f_cost < other.f_cost

class 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						Any			,					lowerCAmelCase__  :						TPosition			,					lowerCAmelCase__  :						TPosition	)       ->	List[str]:

            '''simple docstring'''




            _UpperCamelCase							       =			Node(start[1]			,					start[0]			,					goal[1]			,					goal[0]			,					0			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			Node(goal[1]			,					goal[0]			,					goal[1]			,					goal[0]			,					99999			,					lowerCAmelCase__	)

            _UpperCamelCase							       =			[self.start]
            _UpperCamelCase							       =			[]

            _UpperCamelCase							       =			False





       def snake_case__		(				self  :						List[Any]	)       ->	list[TPosition]:

            '''simple docstring'''




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

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

                 self.closed_nodes.append(lowerCAmelCase__	)
                 _UpperCamelCase							       =			self.get_successors(lowerCAmelCase__	)

                 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(lowerCAmelCase__	)
                      else:
                           # retrieve the best current path
                           _UpperCamelCase							       =			self.open_nodes.pop(self.open_nodes.index(lowerCAmelCase__	)	)

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

            return [self.start.pos]





       def snake_case__		(				self  :						Optional[Any]			,					lowerCAmelCase__  :						Node	)       ->	list[Node]:

            '''simple docstring'''




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

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

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







       def snake_case__		(				self  :						List[Any]			,					lowerCAmelCase__  :						Node | None	)       ->	list[TPosition]:

            '''simple docstring'''




            _UpperCamelCase							       =			node
            _UpperCamelCase							       =			[]
            while current_node is not None:
                 path.append((current_node.pos_y, current_node.pos_x)	)
                 _UpperCamelCase							       =			current_node.parent
            path.reverse()
            return path

class 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						List[str]			,					lowerCAmelCase__  :						TPosition			,					lowerCAmelCase__  :						TPosition	)       ->	None:

            '''simple docstring'''




            _UpperCamelCase							       =			AStar(lowerCAmelCase__			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			AStar(lowerCAmelCase__			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			False





       def snake_case__		(				self  :						int	)       ->	list[TPosition]:

            '''simple docstring'''




            while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
                 self.fwd_astar.open_nodes.sort()
                 self.bwd_astar.open_nodes.sort()
                 _UpperCamelCase							       =			self.fwd_astar.open_nodes.pop(0	)
                 _UpperCamelCase							       =			self.bwd_astar.open_nodes.pop(0	)

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

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

                 _UpperCamelCase							       =			current_bwd_node
                 _UpperCamelCase							       =			current_fwd_node

                 _UpperCamelCase							       =			{
                     self.fwd_astar: self.fwd_astar.get_successors(lowerCAmelCase__	),
                     self.bwd_astar: self.bwd_astar.get_successors(lowerCAmelCase__	),
                 }

                 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(lowerCAmelCase__	)
                           else:
                                # retrieve the best current path
                                _UpperCamelCase							       =			astar.open_nodes.pop(
                                    astar.open_nodes.index(lowerCAmelCase__	)	)

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

            return [self.fwd_astar.start.pos]







       def snake_case__		(				self  :						List[str]			,					lowerCAmelCase__  :						Node			,					lowerCAmelCase__  :						Node	)       ->	list[TPosition]:

            '''simple docstring'''




            _UpperCamelCase							       =			self.fwd_astar.retrace_path(lowerCAmelCase__	)
            _UpperCamelCase							       =			self.bwd_astar.retrace_path(lowerCAmelCase__	)
            bwd_path.pop()
            bwd_path.reverse()
            _UpperCamelCase							       =			fwd_path + bwd_path
            return path


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

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

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







from typing import TYPE_CHECKING

from ...utils import (
    OptionalDependencyNotAvailable,
    _LazyModule,
    is_sentencepiece_available,
    is_tokenizers_available,
    is_torch_available,
)


__a	 =      {"""configuration_reformer""": ["""REFORMER_PRETRAINED_CONFIG_ARCHIVE_MAP""", """ReformerConfig"""]}

try:
 if not is_sentencepiece_available():
  raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
 pass
else:
 __a	 =      ["""ReformerTokenizer"""]

try:
 if not is_tokenizers_available():
  raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
 pass
else:
 __a	 =      ["""ReformerTokenizerFast"""]

try:
 if not is_torch_available():
  raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
 pass
else:
 __a	 =      [
     """REFORMER_PRETRAINED_MODEL_ARCHIVE_LIST""",
     """ReformerAttention""",
     """ReformerForMaskedLM""",
     """ReformerForQuestionAnswering""",
     """ReformerForSequenceClassification""",
     """ReformerLayer""",
     """ReformerModel""",
     """ReformerModelWithLMHead""",
     """ReformerPreTrainedModel""",
 ]


if TYPE_CHECKING:
 from .configuration_reformer import REFORMER_PRETRAINED_CONFIG_ARCHIVE_MAP, ReformerConfig

 try:
  if not is_sentencepiece_available():
   raise OptionalDependencyNotAvailable()
 except OptionalDependencyNotAvailable:
  pass
 else:
  from .tokenization_reformer import ReformerTokenizer

 try:
  if not is_tokenizers_available():
   raise OptionalDependencyNotAvailable()
 except OptionalDependencyNotAvailable:
  pass
 else:
  from .tokenization_reformer_fast import ReformerTokenizerFast

 try:
  if not is_torch_available():
   raise OptionalDependencyNotAvailable()
 except OptionalDependencyNotAvailable:
  pass
 else:
  from .modeling_reformer import (
      REFORMER_PRETRAINED_MODEL_ARCHIVE_LIST,
      ReformerAttention,
      ReformerForMaskedLM,
      ReformerForQuestionAnswering,
      ReformerForSequenceClassification,
      ReformerLayer,
      ReformerModel,
      ReformerModelWithLMHead,
      ReformerPreTrainedModel,
  )

else:
 import sys

 __a	 =      _LazyModule(__name__, globals()["""__file__"""], _import_structure, module_spec=__spec__)



