





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
UpperCamelCase_												=	0

UpperCamelCase_												=	[
    [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],
]

UpperCamelCase_												=	[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

UpperCamelCase_												=	tuple[int, int]

class     snake_case_		:






 '''simple docstring'''





 def __init__(  self,		A_,		A_,		A_,		A_,		A_,		A_,		)	->       Dict:
    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  __UpperCAmelCase						(  self		)	->       Dict:
    UpperCAmelCase__						=self.pos_x - self.goal_x
    UpperCAmelCase__						=self.pos_y - self.goal_y
    if HEURISTIC == 1:
       return abs(_UpperCAmelCase		) + abs(_UpperCAmelCase		)
    else:
       return sqrt(dy**2 + dx**2		)






 def __lt__(  self,		A_		)	->       List[str]:
    return self.f_cost < other.f_cost

class     snake_case_		:






 '''simple docstring'''





 def __init__(  self,		A_,		A_		)	->       Optional[int]:
    UpperCAmelCase__						=Node(start[1],		start[0],		goal[1],		goal[0],		0,		_UpperCAmelCase		)
    UpperCAmelCase__						=Node(goal[1],		goal[0],		goal[1],		goal[0],		9_9999,		_UpperCAmelCase		)

    UpperCAmelCase__						=[self.start]
    UpperCAmelCase__						=[]

    UpperCAmelCase__						=False

 def  __UpperCAmelCase						(  self		)	->       str:






    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(_UpperCAmelCase		)

       self.closed_nodes.append(_UpperCAmelCase		)
       UpperCAmelCase__						=self.get_successors(_UpperCAmelCase		)

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

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

    return [self.start.pos]

 def  __UpperCAmelCase						(  self,		A_		)	->       Dict:
    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(_UpperCAmelCase		) - 1):
          continue

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

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






 def  __UpperCAmelCase						(  self,		A_		)	->       List[str]:
    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     snake_case_		:






 '''simple docstring'''





 def __init__(  self,		A_,		A_		)	->       Optional[Any]:
    UpperCAmelCase__						=AStar(_UpperCAmelCase,		_UpperCAmelCase		)
    UpperCAmelCase__						=AStar(_UpperCAmelCase,		_UpperCAmelCase		)
    UpperCAmelCase__						=False

 def  __UpperCAmelCase						(  self		)	->       Dict:






    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(
              _UpperCAmelCase,		_UpperCAmelCase		)

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

       UpperCAmelCase__						=current_bwd_node
       UpperCAmelCase__						=current_fwd_node

       UpperCAmelCase__						={
           self.fwd_astar: self.fwd_astar.get_successors(_UpperCAmelCase		),
           self.bwd_astar: self.bwd_astar.get_successors(_UpperCAmelCase		),
       }

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

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

    return [self.fwd_astar.start.pos]






 def  __UpperCAmelCase						(  self,		A_,		A_		)	->       str:
    UpperCAmelCase__						=self.fwd_astar.retrace_path(_UpperCAmelCase		)
    UpperCAmelCase__						=self.bwd_astar.retrace_path(_UpperCAmelCase		)
    bwd_path.pop()
    bwd_path.reverse()
    UpperCAmelCase__						=fwd_path + bwd_path
    return path


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

    UpperCamelCase_												=	time.time()
    UpperCamelCase_												=	AStar(init, goal)
    UpperCamelCase_												=	a_star.search()
    UpperCamelCase_												=	time.time() - start_time
    print(f"""AStar execution time = {end_time:f} seconds""")

    UpperCamelCase_												=	time.time()
    UpperCamelCase_												=	BidirectionalAStar(init, goal)
    UpperCamelCase_												=	time.time() - bd_start_time
    print(f"""BidirectionalAStar execution time = {bd_end_time:f} seconds""")










'''simple docstring'''




def 			_lowerCAmelCase     (    __snake_case    :					int					,				__snake_case    :					int					,				__snake_case    :					int     )	->	float:
     __A		:					Dict						=			(num_of_terms / 2) * (2 * first_term + (num_of_terms - 1) * common_diff)
     # formula for sum of series
     return total






def 			_lowerCAmelCase     (    )	->	Union[str, Any]:
     print(sum_of_series(1					,				1					,				10     )     )


if __name__ == "__main__":
  import doctest

  doctest.testmod()