"""simple docstring"""







from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
SCREAMING_SNAKE_CASE									=						0

SCREAMING_SNAKE_CASE									=						[
    [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],
]

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

SCREAMING_SNAKE_CASE									=						tuple[int, int]



class  _lowerCamelCase			:







				def __init__( self    :       Dict			,					lowerCamelCase_    :       Optional[int]			,					lowerCamelCase_    :       List[Any]			,					lowerCamelCase_    :       Optional[Any]			,					lowerCamelCase_    :       Dict			,					lowerCamelCase_    :       Optional[Any]			,					lowerCamelCase_    :       Optional[int]			,					):

					"""simple docstring"""






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







				def 							__UpperCAmelCase					( self    :       str						):

					"""simple docstring"""






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







				def __lt__( self    :       Dict			,					lowerCamelCase_    :       Optional[Any]						):

					"""simple docstring"""






					return self.f_cost < other.f_cost



class  _lowerCamelCase			:







				def __init__( self    :       List[Any]			,					lowerCamelCase_    :       int			,					lowerCamelCase_    :       Optional[Any]						):

					"""simple docstring"""






					_lowercase :    List[Any]							=							Node(start[1]			,					start[0]			,					goal[1]			,					goal[0]			,					0			,					_a						)
					_lowercase :    str							=							Node(goal[1]			,					goal[0]			,					goal[1]			,					goal[0]			,					9_9_9_9_9			,					_a						)

					_lowercase :    List[str]							=							[self.start]
					_lowercase :    list[Node]							=							[]

					_lowercase :    Any							=							False







				def 							__UpperCAmelCase					( self    :       Union[str, Any]						):

					"""simple docstring"""






					while self.open_nodes:
						# Open Nodes are sorted using __lt__
						self.open_nodes.sort()
						_lowercase :    Optional[Any]							=							self.open_nodes.pop(0						)

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

						self.closed_nodes.append(_a						)
						_lowercase :    Dict							=							self.get_successors(_a						)

						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(_a						)
							else:
								# retrieve the best current path
								_lowercase :    List[Any]							=							self.open_nodes.pop(self.open_nodes.index(_a						)						)

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

					return [self.start.pos]







				def 							__UpperCAmelCase					( self    :       Any			,					lowerCamelCase_    :       str						):

					"""simple docstring"""






					_lowercase :    List[str]							=							[]
					for action in delta:
						_lowercase :    Optional[Any]							=							parent.pos_x + action[1]
						_lowercase :    str							=							parent.pos_y + action[0]
						if not (0 <= pos_x <= len(grid[0]						) - 1 and 0 <= pos_y <= len(_a						) - 1):
							continue

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

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







				def 							__UpperCAmelCase					( self    :       List[str]			,					lowerCamelCase_    :       Union[str, Any]						):

					"""simple docstring"""






					_lowercase :    Optional[Any]							=							node
					_lowercase :    Tuple							=							[]
					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  _lowerCamelCase			:







				def __init__( self    :       List[Any]			,					lowerCamelCase_    :       Dict			,					lowerCamelCase_    :       int						):

					"""simple docstring"""






					_lowercase :    List[str]							=							AStar(_a			,					_a						)
					_lowercase :    Optional[Any]							=							AStar(_a			,					_a						)
					_lowercase :    List[str]							=							False







				def 							__UpperCAmelCase					( 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()
						_lowercase :    Any							=							self.fwd_astar.open_nodes.pop(0						)
						_lowercase :    Union[str, Any]							=							self.bwd_astar.open_nodes.pop(0						)

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

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

						_lowercase :    Union[str, Any]							=							current_bwd_node
						_lowercase :    Tuple							=							current_fwd_node

						_lowercase :    Tuple							=							{
						    self.fwd_astar: self.fwd_astar.get_successors(_a						),
						    self.bwd_astar: self.bwd_astar.get_successors(_a						),
						}

						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(_a						)
								else:
									# retrieve the best current path
									_lowercase :    List[str]							=							astar.open_nodes.pop(
									    astar.open_nodes.index(_a						)						)

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

					return [self.fwd_astar.start.pos]







				def 							__UpperCAmelCase					( self    :       int			,					lowerCamelCase_    :       Tuple			,					lowerCamelCase_    :       str						):

					"""simple docstring"""






					_lowercase :    Optional[Any]							=							self.fwd_astar.retrace_path(_a						)
					_lowercase :    str							=							self.bwd_astar.retrace_path(_a						)
					bwd_path.pop()
					bwd_path.reverse()
					_lowercase :    Optional[Any]							=							fwd_path + bwd_path
					return path


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

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

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




"""simple docstring"""







import json
import os
from functools import lru_cache
from typing import List, Optional, Tuple

import regex as re

from ...tokenization_utils import AddedToken, PreTrainedTokenizer
from ...utils import logging


SCREAMING_SNAKE_CASE									=						logging.get_logger(__name__)


SCREAMING_SNAKE_CASE									=						{'vocab_file': 'vocab.json', 'merges_file': 'merges.txt'}

# See all BART models at https://huggingface.co/models?filter=bart
SCREAMING_SNAKE_CASE									=						{
    'vocab_file': {
        'facebook/bart-base': 'https://huggingface.co/facebook/bart-base/resolve/main/vocab.json',
        'facebook/bart-large': 'https://huggingface.co/facebook/bart-large/resolve/main/vocab.json',
        'facebook/bart-large-mnli': 'https://huggingface.co/facebook/bart-large-mnli/resolve/main/vocab.json',
        'facebook/bart-large-cnn': 'https://huggingface.co/facebook/bart-large-cnn/resolve/main/vocab.json',
        'facebook/bart-large-xsum': 'https://huggingface.co/facebook/bart-large-xsum/resolve/main/vocab.json',
        'yjernite/bart_eli5': 'https://huggingface.co/yjernite/bart_eli5/resolve/main/vocab.json',
    },
    'merges_file': {
        'facebook/bart-base': 'https://huggingface.co/facebook/bart-base/resolve/main/merges.txt',
        'facebook/bart-large': 'https://huggingface.co/facebook/bart-large/resolve/main/merges.txt',
        'facebook/bart-large-mnli': 'https://huggingface.co/facebook/bart-large-mnli/resolve/main/merges.txt',
        'facebook/bart-large-cnn': 'https://huggingface.co/facebook/bart-large-cnn/resolve/main/merges.txt',
        'facebook/bart-large-xsum': 'https://huggingface.co/facebook/bart-large-xsum/resolve/main/merges.txt',
        'yjernite/bart_eli5': 'https://huggingface.co/yjernite/bart_eli5/resolve/main/merges.txt',
    },
}

SCREAMING_SNAKE_CASE									=						{
    'facebook/bart-base': 1024,
    'facebook/bart-large': 1024,
    'facebook/bart-large-mnli': 1024,
    'facebook/bart-large-cnn': 1024,
    'facebook/bart-large-xsum': 1024,
    'yjernite/bart_eli5': 1024,
}


@lru_cache()
def      __lowerCAmelCase(		):






	"""simple docstring"""





	_lowercase :    Tuple							=							(
	    list(range(ord('!'			)     ,ord('~'			) + 1			)			) + list(range(ord('¡'			)     ,ord('¬'			) + 1			)			) + list(range(ord('®'			)     ,ord('ÿ'			) + 1			)			)
	)
	_lowercase :    List[Any]							=							bs[:]
	_lowercase :    Optional[Any]							=							0
	for b in range(2**8			):
		if b not in bs:
			bs.append(__UpperCAmelCase			)
			cs.append(2**8 + n			)
			n += 1
	_lowercase :    Dict							=							[chr(__UpperCAmelCase			) for n in cs]
	return dict(zip(__UpperCAmelCase     ,__UpperCAmelCase			)			)


def      __lowerCAmelCase(		__UpperCAmelCase			):






	"""simple docstring"""





	_lowercase :    Tuple							=							set()
	_lowercase :    int							=							word[0]
	for char in word[1:]:
		pairs.add((prev_char, char)			)
		_lowercase :    Union[str, Any]							=							char
	return pairs







class  _lowerCamelCase			(__lowerCamelCase     ):
				_snake_case     =  VOCAB_FILES_NAMES
				_snake_case     =  PRETRAINED_VOCAB_FILES_MAP
				_snake_case     =  PRETRAINED_POSITIONAL_EMBEDDINGS_SIZES
				_snake_case     =  ["input_ids", "attention_mask"]







				def __init__( self    :       int			,					lowerCamelCase_    :       Dict			,					lowerCamelCase_    :       List[str]			,					lowerCamelCase_    :       List[Any]="replace"			,					lowerCamelCase_    :       List[str]="<s>"			,					lowerCamelCase_    :       Optional[int]="</s>"			,					lowerCamelCase_    :       Tuple="</s>"			,					lowerCamelCase_    :       str="<s>"			,					lowerCamelCase_    :       Dict="<unk>"			,					lowerCamelCase_    :       Optional[Any]="<pad>"			,					lowerCamelCase_    :       List[Any]="<mask>"			,					lowerCamelCase_    :       str=False			,					**lowerCamelCase_    :       str			,					):

					"""simple docstring"""






					_lowercase :    int							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else bos_token
					_lowercase :    int							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else eos_token
					_lowercase :    Dict							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else sep_token
					_lowercase :    Optional[int]							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else cls_token
					_lowercase :    Any							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else unk_token
					_lowercase :    Union[str, Any]							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else pad_token

					# Mask token behave like a normal word, i.e. include the space before it
					_lowercase :    str							=							AddedToken(lowerCamelCase_			,					lstrip=lowerCamelCase_			,					rstrip=lowerCamelCase_						) if isinstance(lowerCamelCase_			,					lowerCamelCase_						) else mask_token

					super().__init__(
					    errors=lowerCamelCase_			,					bos_token=lowerCamelCase_			,					eos_token=lowerCamelCase_			,					unk_token=lowerCamelCase_			,					sep_token=lowerCamelCase_			,					cls_token=lowerCamelCase_			,					pad_token=lowerCamelCase_			,					mask_token=lowerCamelCase_			,					add_prefix_space=lowerCamelCase_			,					**lowerCamelCase_			,					)

					with open(lowerCamelCase_			,					encoding='utf-8'						) as vocab_handle:
						_lowercase :    str							=							json.load(lowerCamelCase_						)
					_lowercase :    Tuple							=							{v: k for k, v in self.encoder.items()}
					_lowercase :    Any							=							errors  # how to handle errors in decoding
					_lowercase :    str							=							bytes_to_unicode()
					_lowercase :    Optional[int]							=							{v: k for k, v in self.byte_encoder.items()}
					with open(lowerCamelCase_			,					encoding='utf-8'						) as merges_handle:
						_lowercase :    Union[str, Any]							=							merges_handle.read().split('\n'						)[1:-1]
					_lowercase :    Dict							=							[tuple(merge.split()						) for merge in bpe_merges]
					_lowercase :    Any							=							dict(zip(lowerCamelCase_			,					range(len(lowerCamelCase_						)						)						)						)
					_lowercase :    Tuple							=							{}
					_lowercase :    Optional[Any]							=							add_prefix_space

					# Should have added re.IGNORECASE so BPE merges can happen for capitalized versions of contractions
					_lowercase :    int							=							re.compile(r'\'s|\'t|\'re|\'ve|\'m|\'ll|\'d| ?\p{L}+| ?\p{N}+| ?[^\s\p{L}\p{N}]+|\s+(?!\S)|\s+'						)







				@property
				def 							__UpperCAmelCase					( self    :       Dict						):

					"""simple docstring"""






					return len(self.encoder						)







				def 							__UpperCAmelCase					( self    :       int						):

					"""simple docstring"""






					return dict(self.encoder			,					**self.added_tokens_encoder						)







				def 							__UpperCAmelCase					( self    :       Optional[int]			,					lowerCamelCase_    :       Optional[int]						):

					"""simple docstring"""






					if token in self.cache:
						return self.cache[token]
					_lowercase :    str							=							tuple(lowerCamelCase_						)
					_lowercase :    Dict							=							get_pairs(lowerCamelCase_						)

					if not pairs:
						return token

					while True:
						_lowercase :    List[str]							=							min(lowerCamelCase_			,					key=lambda lowerCamelCase_						: self.bpe_ranks.get(lowerCamelCase_			,					float('inf'						)						)						)
						if bigram not in self.bpe_ranks:
							break
						_lowercase				,      _lowercase :    List[Any]							=							bigram
						_lowercase :    Optional[int]							=							[]
						_lowercase :    Optional[Any]							=							0
						while i < len(lowerCamelCase_						):
							try:
								_lowercase :    int							=							word.index(lowerCamelCase_			,					lowerCamelCase_						)
							except ValueError:
								new_word.extend(word[i:]						)
								break
							else:
								new_word.extend(word[i:j]						)
								_lowercase :    Dict							=							j

							if word[i] == first and i < len(lowerCamelCase_						) - 1 and word[i + 1] == second:
								new_word.append(first + second						)
								i += 2
							else:
								new_word.append(word[i]						)
								i += 1
						_lowercase :    Tuple							=							tuple(lowerCamelCase_						)
						_lowercase :    Dict							=							new_word
						if len(lowerCamelCase_						) == 1:
							break
						else:
							_lowercase :    str							=							get_pairs(lowerCamelCase_						)
					_lowercase :    str							=							' '.join(lowerCamelCase_						)
					_lowercase :    List[str]							=							word
					return word







				def 							__UpperCAmelCase					( self    :       Tuple			,					lowerCamelCase_    :       str						):

					"""simple docstring"""






					_lowercase :    Union[str, Any]							=							[]
					for token in re.findall(self.pat			,					lowerCamelCase_						):
						_lowercase :    List[str]							=							''.join(
						    self.byte_encoder[b] for b in token.encode('utf-8'						)						)  # Maps all our bytes to unicode strings, avoiding control tokens of the BPE (spaces in our case)
						bpe_tokens.extend(bpe_token for bpe_token in self.bpe(lowerCamelCase_						).split(' '						)						)
					return bpe_tokens







				def 							__UpperCAmelCase					( self    :       int			,					lowerCamelCase_    :       Optional[Any]						):

					"""simple docstring"""






					return self.encoder.get(lowerCamelCase_			,					self.encoder.get(self.unk_token						)						)







				def 							__UpperCAmelCase					( self    :       List[Any]			,					lowerCamelCase_    :       Dict						):

					"""simple docstring"""






					return self.decoder.get(lowerCamelCase_						)







				def 							__UpperCAmelCase					( self    :       Optional[int]			,					lowerCamelCase_    :       Any						):

					"""simple docstring"""






					_lowercase :    Dict							=							''.join(lowerCamelCase_						)
					_lowercase :    Optional[Any]							=							bytearray([self.byte_decoder[c] for c in text]						).decode('utf-8'			,					errors=self.errors						)
					return text







				def 							__UpperCAmelCase					( self    :       int			,					lowerCamelCase_    :       str			,					lowerCamelCase_    :       Optional[str] = None						):

					"""simple docstring"""






					if not os.path.isdir(lowerCamelCase_						):
						logger.error(F'''Vocabulary path ({save_directory}) should be a directory'''						)
						return
					_lowercase :    Union[str, Any]							=							os.path.join(
					    lowerCamelCase_			,					(filename_prefix + '-' if filename_prefix else '') + VOCAB_FILES_NAMES['vocab_file']						)
					_lowercase :    List[Any]							=							os.path.join(
					    lowerCamelCase_			,					(filename_prefix + '-' if filename_prefix else '') + VOCAB_FILES_NAMES['merges_file']						)

					with open(lowerCamelCase_			,					'w'			,					encoding='utf-8'						) as f:
						f.write(json.dumps(self.encoder			,					indent=2			,					sort_keys=lowerCamelCase_			,					ensure_ascii=lowerCamelCase_						) + '\n'						)

					_lowercase :    Optional[int]							=							0
					with open(lowerCamelCase_			,					'w'			,					encoding='utf-8'						) as writer:
						writer.write('#version: 0.2\n'						)
						for bpe_tokens, token_index in sorted(self.bpe_ranks.items()			,					key=lambda lowerCamelCase_						: kv[1]						):
							if index != token_index:
								logger.warning(
								    F'''Saving vocabulary to {merge_file}: BPE merge indices are not consecutive.'''
								    ' Please check that the tokenizer is not corrupted!'						)
								_lowercase :    int							=							token_index
							writer.write(' '.join(lowerCamelCase_						) + '\n'						)
							index += 1

					return vocab_file, merge_file







				def 							__UpperCAmelCase					( self    :       Any			,					lowerCamelCase_    :       List[int]			,					lowerCamelCase_    :       Optional[List[int]] = None						):

					"""simple docstring"""






					if token_ids_a is None:
						return [self.cls_token_id] + token_ids_a + [self.sep_token_id]
					_lowercase :    Optional[Any]							=							[self.cls_token_id]
					_lowercase :    List[Any]							=							[self.sep_token_id]
					return cls + token_ids_a + sep + sep + token_ids_a + sep







				def 							__UpperCAmelCase					( self    :       Optional[Any]			,					lowerCamelCase_    :       List[int]			,					lowerCamelCase_    :       Optional[List[int]] = None			,					lowerCamelCase_    :       bool = False						):

					"""simple docstring"""






					if already_has_special_tokens:
						return super().get_special_tokens_mask(
						    token_ids_a=lowerCamelCase_			,					token_ids_a=lowerCamelCase_			,					already_has_special_tokens=lowerCamelCase_						)

					if token_ids_a is None:
						return [1] + ([0] * len(lowerCamelCase_						)) + [1]
					return [1] + ([0] * len(lowerCamelCase_						)) + [1, 1] + ([0] * len(lowerCamelCase_						)) + [1]







				def 							__UpperCAmelCase					( self    :       List[Any]			,					lowerCamelCase_    :       List[int]			,					lowerCamelCase_    :       Optional[List[int]] = None						):

					"""simple docstring"""






					_lowercase :    int							=							[self.sep_token_id]
					_lowercase :    Optional[Any]							=							[self.cls_token_id]

					if token_ids_a is None:
						return len(cls + token_ids_a + sep						) * [0]
					return len(cls + token_ids_a + sep + sep + token_ids_a + sep						) * [0]







				def 							__UpperCAmelCase					( self    :       Tuple			,					lowerCamelCase_    :       Optional[Any]			,					lowerCamelCase_    :       str=False			,					**lowerCamelCase_    :       int						):

					"""simple docstring"""






					_lowercase :    Dict							=							kwargs.pop('add_prefix_space'			,					self.add_prefix_space						)
					if (is_split_into_words or add_prefix_space) and (len(lowerCamelCase_						) > 0 and not text[0].isspace()):
						_lowercase :    Dict							=							' ' + text
					return (text, kwargs)



