






"""simple docstring"""



from __future__ import annotations

import time
from math import sqrt

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

_lowerCAmelCase	:	Dict				=      [
    [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	:	List[str]				=      [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

_lowerCAmelCase	:	Optional[int]				=      tuple[int, int]




class 			lowerCAmelCase__			:
   def __init__(		self      :	Union[str, Any]							,			snake_case__      :	int							,			snake_case__      :	int							,			snake_case__      :	int							,			snake_case__      :	int							,			snake_case__      :	int							,			snake_case__      :	Node | None							,			):


        '''simple docstring'''
        UpperCAmelCase__						:    Optional[Any]							=							pos_x
        UpperCAmelCase__						:    Optional[Any]							=							pos_y
        UpperCAmelCase__						:    List[str]							=							(pos_y, pos_x)
        UpperCAmelCase__						:    int							=							goal_x
        UpperCAmelCase__						:    Dict							=							goal_y
        UpperCAmelCase__						:    Tuple							=							g_cost
        UpperCAmelCase__						:    Optional[Any]							=							parent
        UpperCAmelCase__						:    Optional[Any]							=							self.calculate_heuristic()
        UpperCAmelCase__						:    List[Any]							=							self.g_cost + self.h_cost
   def       __a							(		self      :	Optional[Any]							):


        '''simple docstring'''
        UpperCAmelCase__						:    Tuple							=							self.pos_x - self.goal_x
        UpperCAmelCase__						:    Optional[Any]							=							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      :	Tuple							,			snake_case__      :	Node							):


        '''simple docstring'''
        return self.f_cost < other.f_cost




class 			lowerCAmelCase__			:
   def __init__(		self      :	Dict							,			snake_case__      :	TPosition							,			snake_case__      :	TPosition							):


        '''simple docstring'''
        UpperCAmelCase__						:    List[str]							=							Node(start[1]							,			start[0]							,			goal[1]							,			goal[0]							,			0							,			snake_case__							)
        UpperCAmelCase__						:    Optional[Any]							=							Node(goal[1]							,			goal[0]							,			goal[1]							,			goal[0]							,			9_9_9_9_9							,			snake_case__							)

        UpperCAmelCase__						:    Any							=							[self.start]
        UpperCAmelCase__						:    list[Node]							=							[]

        UpperCAmelCase__						:    int							=							False
   def       __a							(		self      :	Union[str, Any]							):


        '''simple docstring'''
        while self.open_nodes:
             # Open Nodes are sorted using __lt__
             self.open_nodes.sort()
             UpperCAmelCase__						:    Optional[int]							=							self.open_nodes.pop(0							)

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

             self.closed_nodes.append(snake_case__							)
             UpperCAmelCase__						:    List[Any]							=							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
                       UpperCAmelCase__						:    List[Any]							=							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       __a							(		self      :	int							,			snake_case__      :	Node							):


        '''simple docstring'''
        UpperCAmelCase__						:    Any							=							[]
        for action in delta:
             UpperCAmelCase__						:    Union[str, Any]							=							parent.pos_x + action[1]
             UpperCAmelCase__						:    Dict							=							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       __a							(		self      :	List[str]							,			snake_case__      :	Node | None							):


        '''simple docstring'''
        UpperCAmelCase__						:    List[Any]							=							node
        UpperCAmelCase__						:    Dict							=							[]
        while current_node is not None:
             path.append((current_node.pos_y, current_node.pos_x)							)
             UpperCAmelCase__						:    Optional[int]							=							current_node.parent
        path.reverse()
        return path




class 			lowerCAmelCase__			:
   def __init__(		self      :	Optional[int]							,			snake_case__      :	TPosition							,			snake_case__      :	TPosition							):


        '''simple docstring'''
        UpperCAmelCase__						:    Optional[Any]							=							AStar(snake_case__							,			snake_case__							)
        UpperCAmelCase__						:    Optional[int]							=							AStar(snake_case__							,			snake_case__							)
        UpperCAmelCase__						:    List[Any]							=							False
   def       __a							(		self      :	Dict							):


        '''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__						:    List[str]							=							self.fwd_astar.open_nodes.pop(0							)
             UpperCAmelCase__						:    Optional[int]							=							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__							)

             UpperCAmelCase__						:    Optional[int]							=							current_bwd_node
             UpperCAmelCase__						:    List[Any]							=							current_fwd_node

             UpperCAmelCase__						:    Optional[Any]							=							{
                 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
                            UpperCAmelCase__						:    List[str]							=							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       __a							(		self      :	Union[str, Any]							,			snake_case__      :	Node							,			snake_case__      :	Node							):


        '''simple docstring'''
        UpperCAmelCase__						:    str							=							self.fwd_astar.retrace_path(snake_case__							)
        UpperCAmelCase__						:    List[Any]							=							self.bwd_astar.retrace_path(snake_case__							)
        bwd_path.pop()
        bwd_path.reverse()
        UpperCAmelCase__						:    Any							=							fwd_path + bwd_path
        return path


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

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

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










"""simple docstring"""



def 	SCREAMING_SNAKE_CASE__       (  snake_case       : int			,					snake_case       : int				)->		str:






     '''simple docstring'''



     if not isinstance(snake_case			,					snake_case				):
          raise ValueError("iterations must be defined as integers"				)
     if not isinstance(snake_case			,					snake_case				) or not number >= 1:
          raise ValueError(
              "starting number must be\n                         and integer and be more than 0"				)
     if not iterations >= 1:
          raise ValueError("Iterations must be done more than 0 times to play FizzBuzz"				)

     UpperCAmelCase__						:    str							=							""
     while number <= iterations:
          if number % 3 == 0:
               out += "Fizz"
          if number % 5 == 0:
               out += "Buzz"
          if 0 not in (number % 3, number % 5):
               out += str(snake_case				)

          # print(out)
          number += 1
          out += " "
     return out


if __name__ == "__main__":
 import doctest

 doctest.testmod()


