
from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCamelCase__     :		Optional[int]        = 0

lowerCamelCase__     :		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],
]

lowerCamelCase__     :		Any        = [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

lowerCamelCase__     :		Any        = tuple[int, int]



class    _snake_case :


 def __init__(       self       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_       ,	):


   '''simple docstring'''




   lowercase__	: List[str]     		=   pos_x
   lowercase__	: Dict     		=   pos_y
   lowercase__	: Any     		=   (pos_y, pos_x)
   lowercase__	: str     		=   goal_x
   lowercase__	: Optional[int]     		=   goal_y
   lowercase__	: Dict     		=   g_cost
   lowercase__	: List[str]     		=   parent
   lowercase__	: Any     		=   self.calculate_heuristic()
   lowercase__	: str     		=   self.g_cost + self.h_cost


 def   lowercase__  (       self):


   '''simple docstring'''




   lowercase__	: Union[str, Any]     		=   self.pos_x - self.goal_x
   lowercase__	: Optional[Any]     		=   self.pos_y - self.goal_y
   if HEURISTIC == 1:
     return abs(SCREAMING_SNAKE_CASE_) + abs(SCREAMING_SNAKE_CASE_)
   else:
     return sqrt(dy**2 + dx**2)



 def __lt__(       self       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




   return self.f_cost < other.f_cost



class    _snake_case :


 def __init__(       self       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




   lowercase__	: List[str]     		=   Node(start[1]       ,	start[0]       ,	goal[1]       ,	goal[0]       ,	0       ,	SCREAMING_SNAKE_CASE_)
   lowercase__	: Tuple     		=   Node(goal[1]       ,	goal[0]       ,	goal[1]       ,	goal[0]       ,	9_99_99       ,	SCREAMING_SNAKE_CASE_)

   lowercase__	: List[Any]     		=   [self.start]
   lowercase__	: list[Node]     		=   []

   lowercase__	: Dict     		=   False


 def   lowercase__  (       self):


   '''simple docstring'''




   while self.open_nodes:
     # Open Nodes are sorted using __lt__
     self.open_nodes.sort()
     lowercase__	: List[str]     		=   self.open_nodes.pop(0)

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

     self.closed_nodes.append(SCREAMING_SNAKE_CASE_)
     lowercase__	: int     		=   self.get_successors(SCREAMING_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(SCREAMING_SNAKE_CASE_)
       else:
         # retrieve the best current path
         lowercase__	: List[Any]     		=   self.open_nodes.pop(self.open_nodes.index(SCREAMING_SNAKE_CASE_))

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

   return [self.start.pos]


 def   lowercase__  (       self       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




   lowercase__	: str     		=   []
   for action in delta:
     lowercase__	: Any     		=   parent.pos_x + action[1]
     lowercase__	: Tuple     		=   parent.pos_y + action[0]
     if not (0 <= pos_x <= len(grid[0]) - 1 and 0 <= pos_y <= len(SCREAMING_SNAKE_CASE_) - 1):
       continue

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

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



 def   lowercase__  (       self       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




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



class    _snake_case :


 def __init__(       self       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




   lowercase__	: List[str]     		=   AStar(SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_)
   lowercase__	: str     		=   AStar(SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_)
   lowercase__	: Union[str, Any]     		=   False


 def   lowercase__  (       self):


   '''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()
     lowercase__	: List[Any]     		=   self.fwd_astar.open_nodes.pop(0)
     lowercase__	: Optional[int]     		=   self.bwd_astar.open_nodes.pop(0)

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

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

     lowercase__	: str     		=   current_bwd_node
     lowercase__	: str     		=   current_fwd_node

     lowercase__	: Union[str, Any]     		=   {
         self.fwd_astar: self.fwd_astar.get_successors(SCREAMING_SNAKE_CASE_),
         self.bwd_astar: self.bwd_astar.get_successors(SCREAMING_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(SCREAMING_SNAKE_CASE_)
         else:
           # retrieve the best current path
           lowercase__	: Optional[Any]     		=   astar.open_nodes.pop(
               astar.open_nodes.index(SCREAMING_SNAKE_CASE_))

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

   return [self.fwd_astar.start.pos]



 def   lowercase__  (       self       ,	SCREAMING_SNAKE_CASE_       ,	SCREAMING_SNAKE_CASE_):


   '''simple docstring'''




   lowercase__	: Any     		=   self.fwd_astar.retrace_path(SCREAMING_SNAKE_CASE_)
   lowercase__	: str     		=   self.bwd_astar.retrace_path(SCREAMING_SNAKE_CASE_)
   bwd_path.pop()
   bwd_path.reverse()
   lowercase__	: List[str]     		=   fwd_path + bwd_path
   return path


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

     lowerCamelCase__     :		int        = time.time()
     lowerCamelCase__     :		List[Any]        = AStar(init, goal)
     lowerCamelCase__     :		str        = a_star.search()
     lowerCamelCase__     :		Any        = time.time() - start_time
     print(f'''AStar execution time = {end_time:f} seconds''')

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








# Copyright 2023 The HuggingFace Team. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_torch_available


lowerCamelCase__     :		Tuple        = {
    """configuration_mgp_str""": ["""MGP_STR_PRETRAINED_CONFIG_ARCHIVE_MAP""", """MgpstrConfig"""],
    """processing_mgp_str""": ["""MgpstrProcessor"""],
    """tokenization_mgp_str""": ["""MgpstrTokenizer"""],
}

try:
     if not is_torch_available():
          raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
     pass
else:
     lowerCamelCase__     :		Optional[int]        = [
         """MGP_STR_PRETRAINED_MODEL_ARCHIVE_LIST""",
         """MgpstrModel""",
         """MgpstrPreTrainedModel""",
         """MgpstrForSceneTextRecognition""",
     ]

if TYPE_CHECKING:
     from .configuration_mgp_str import MGP_STR_PRETRAINED_CONFIG_ARCHIVE_MAP, MgpstrConfig
     from .processing_mgp_str import MgpstrProcessor
     from .tokenization_mgp_str import MgpstrTokenizer

     try:
          if not is_torch_available():
               raise OptionalDependencyNotAvailable()
     except OptionalDependencyNotAvailable:
          pass
     else:
          from .modeling_mgp_str import (
              MGP_STR_PRETRAINED_MODEL_ARCHIVE_LIST,
              MgpstrForSceneTextRecognition,
              MgpstrModel,
              MgpstrPreTrainedModel,
          )
else:
     import sys

     lowerCamelCase__     :		List[Any]        = _LazyModule(__name__, globals()["""__file__"""], _import_structure, module_spec=__spec__)






