
'''simple docstring'''


from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
snake_case_ :  Dict     =					0

snake_case_ :  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],
]

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

snake_case_ :  int     =					tuple[int, int]


class 						lowercase__	:






   '''simple docstring'''







   def __init__(			self ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   ):

      '''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       UpperCAmelCase				(			self   ):

      '''simple docstring'''







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







   def __lt__(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      return self.f_cost < other.f_cost




class 						lowercase__	:






   '''simple docstring'''







   def __init__(			self ,   lowerCamelCase__ ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  Node(start[1] ,   start[0] ,   goal[1] ,   goal[0] ,   0 ,   _a   )
      UpperCamelCase       =  Node(goal[1] ,   goal[0] ,   goal[1] ,   goal[0] ,   9_9_9_9_9 ,   _a   )

      UpperCamelCase       =  [self.start]
      UpperCamelCase       =  []

      UpperCamelCase       =  False







   def       UpperCAmelCase				(			self   ):

      '''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(_a   )

         self.closed_nodes.append(_a   )
         UpperCamelCase       =  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
               UpperCamelCase       =  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 ,   lowerCamelCase__   ):

      '''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(_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 ,   lowerCamelCase__   ):

      '''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 						lowercase__	:






   '''simple docstring'''







   def __init__(			self ,   lowerCamelCase__ ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  AStar(_a ,   _a   )
      UpperCamelCase       =  AStar(_a ,   _a   )
      UpperCamelCase       =  False







   def       UpperCAmelCase				(			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()
         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(
                _a ,   _a   )

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

         UpperCamelCase       =  current_bwd_node
         UpperCamelCase       =  current_fwd_node

         UpperCamelCase       =  {
             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
                  UpperCamelCase       =  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 ,   lowerCamelCase__ ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  self.fwd_astar.retrace_path(_a   )
      UpperCamelCase       =  self.bwd_astar.retrace_path(_a   )
      bwd_path.pop()
      bwd_path.reverse()
      UpperCamelCase       =  fwd_path + bwd_path
      return path


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

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

   snake_case_ :  Tuple     =					time.time()
   snake_case_ :  Any     =					BidirectionalAStar(init, goal)
   snake_case_ :  int     =					time.time() - bd_start_time
   print(F'''BidirectionalAStar execution time = {bd_end_time:f} seconds''')







'''simple docstring'''


import unittest

from transformers import PegasusTokenizer, PegasusTokenizerFast
from transformers.testing_utils import get_tests_dir, require_sentencepiece, require_tokenizers, require_torch, slow
from transformers.utils import cached_property

from ...test_tokenization_common import TokenizerTesterMixin


snake_case_ :  Tuple     =					get_tests_dir('fixtures/test_sentencepiece_no_bos.model')


@require_sentencepiece
@require_tokenizers
class 						lowercase__	(  snake_case_,					unittest.TestCase   ):






   '''simple docstring'''







   _snake_case		   =							PegasusTokenizer
   _snake_case		   =							PegasusTokenizerFast
   _snake_case		   =							True
   _snake_case		   =							True







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      super().setUp()

      # We have a SentencePiece fixture for testing
      UpperCamelCase       =  PegasusTokenizer(lowerCamelCase__   )
      tokenizer.save_pretrained(self.tmpdirname   )







   @cached_property
   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      return PegasusTokenizer.from_pretrained('''google/pegasus-large'''   )







   def       UpperCAmelCase				(			self ,   **lowerCamelCase__   ):

      '''simple docstring'''







      return PegasusTokenizer.from_pretrained(self.tmpdirname ,   **lowerCamelCase__   )







   def       UpperCAmelCase				(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      return ("This is a test", "This is a test")







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  '''</s>'''
      UpperCamelCase       =  1

      self.assertEqual(self.get_tokenizer()._convert_token_to_id(lowerCamelCase__   ) ,   lowerCamelCase__   )
      self.assertEqual(self.get_tokenizer()._convert_id_to_token(lowerCamelCase__   ) ,   lowerCamelCase__   )







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  list(self.get_tokenizer().get_vocab().keys()   )

      self.assertEqual(vocab_keys[0] ,   '''<pad>'''   )
      self.assertEqual(vocab_keys[1] ,   '''</s>'''   )
      self.assertEqual(vocab_keys[-1] ,   '''v'''   )
      self.assertEqual(len(lowerCamelCase__   ) ,   1_1_0_3   )







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      self.assertEqual(self.get_tokenizer().vocab_size ,   1_1_0_3   )







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  self.rust_tokenizer_class.from_pretrained(self.tmpdirname   )
      UpperCamelCase       =  self.tokenizer_class.from_pretrained(self.tmpdirname   )
      UpperCamelCase       =  (
          '''Let\'s see which <unk> is the better <unk_token_11> one <mask_1> It seems like this <mask_2> was important'''
          ''' </s> <pad> <pad> <pad>'''
      )
      UpperCamelCase       =  rust_tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__ ,   add_special_tokens=lowerCamelCase__   ).input_ids[0]
      UpperCamelCase       =  py_tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__ ,   add_special_tokens=lowerCamelCase__   ).input_ids[0]
      self.assertListEqual(lowerCamelCase__ ,   lowerCamelCase__   )







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  self._large_tokenizer
      # <mask_1> masks whole sentence while <mask_2> masks single word
      UpperCamelCase       =  '''<mask_1> To ensure a <mask_2> flow of bank resolutions.'''
      UpperCamelCase       =  [2, 4_1_3, 6_1_5, 1_1_4, 3, 1_9_7_1, 1_1_3, 1_6_7_9, 1_0_7_1_0, 1_0_7, 1]
      UpperCamelCase       =  tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__   ).input_ids[0]
      self.assertListEqual(lowerCamelCase__ ,   lowerCamelCase__   )







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  self._large_tokenizer
      # The tracebacks for the following asserts are **better** without messages or self.assertEqual
      assert tokenizer.vocab_size == 9_6_1_0_3
      assert tokenizer.pad_token_id == 0
      assert tokenizer.eos_token_id == 1
      assert tokenizer.offset == 1_0_3
      assert tokenizer.unk_token_id == tokenizer.offset + 2 == 1_0_5
      assert tokenizer.unk_token == "<unk>"
      assert tokenizer.model_max_length == 1_0_2_4
      UpperCamelCase       =  '''To ensure a smooth flow of bank resolutions.'''
      UpperCamelCase       =  [4_1_3, 6_1_5, 1_1_4, 2_2_9_1, 1_9_7_1, 1_1_3, 1_6_7_9, 1_0_7_1_0, 1_0_7, 1]
      UpperCamelCase       =  tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__   ).input_ids[0]
      self.assertListEqual(lowerCamelCase__ ,   lowerCamelCase__   )
      assert tokenizer.convert_ids_to_tokens([0, 1, 2, 3]   ) == ["<pad>", "</s>", "<mask_1>", "<mask_2>"]







   @require_torch
   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  ['''This is going to be way too long.''' * 1_5_0, '''short example''']
      UpperCamelCase       =  ['''not super long but more than 5 tokens''', '''tiny''']
      UpperCamelCase       =  self._large_tokenizer(lowerCamelCase__ ,   padding=lowerCamelCase__ ,   truncation=lowerCamelCase__ ,   return_tensors='''pt'''   )
      UpperCamelCase       =  self._large_tokenizer(
          text_target=lowerCamelCase__ ,   max_length=5 ,   padding=lowerCamelCase__ ,   truncation=lowerCamelCase__ ,   return_tensors='''pt'''   )

      assert batch.input_ids.shape == (2, 1_0_2_4)
      assert batch.attention_mask.shape == (2, 1_0_2_4)
      assert targets["input_ids"].shape == (2, 5)
      assert len(lowerCamelCase__   ) == 2  # input_ids, attention_mask.







   @slow
   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  {'''input_ids''': [[3_8_9_7_9, 1_4_3, 1_8_4_8_5, 6_0_6, 1_3_0, 2_6_6_6_9, 8_7_6_8_6, 1_2_1, 5_4_1_8_9, 1_1_2_9, 1_1_1, 2_6_6_6_9, 8_7_6_8_6, 1_2_1, 9_1_1_4, 1_4_7_8_7, 1_2_1, 1_3_2_4_9, 1_5_8, 5_9_2, 9_5_6, 1_2_1, 1_4_6_2_1, 3_1_5_7_6, 1_4_3, 6_2_6_1_3, 1_0_8, 9_6_8_8, 9_3_0, 4_3_4_3_0, 1_1_5_6_2, 6_2_6_1_3, 3_0_4, 1_0_8, 1_1_4_4_3, 8_9_7, 1_0_8, 9_3_1_4, 1_7_4_1_5, 6_3_3_9_9, 1_0_8, 1_1_4_4_3, 7_6_1_4, 1_8_3_1_6, 1_1_8, 4_2_8_4, 7_1_4_8, 1_2_4_3_0, 1_4_3, 1_4_0_0, 2_5_7_0_3, 1_5_8, 1_1_1, 4_2_8_4, 7_1_4_8, 1_1_7_7_2, 1_4_3, 2_1_2_9_7, 1_0_6_4, 1_5_8, 1_2_2, 2_0_4, 3_5_0_6, 1_7_5_4, 1_1_3_3, 1_4_7_8_7, 1_5_8_1, 1_1_5, 3_3_2_2_4, 4_4_8_2, 1_1_1, 1_3_5_5, 1_1_0, 2_9_1_7_3, 3_1_7, 5_0_8_3_3, 1_0_8, 2_0_1_4_7, 9_4_6_6_5, 1_1_1, 7_7_1_9_8, 1_0_7, 1], [1_1_0, 6_2_6_1_3, 1_1_7, 6_3_8, 1_1_2, 1_1_3_3, 1_2_1, 2_0_0_9_8, 1_3_5_5, 7_9_0_5_0, 1_3_8_7_2, 1_3_5, 1_5_9_6, 5_3_5_4_1, 1_3_5_2, 1_4_1, 1_3_0_3_9, 5_5_4_2, 1_2_4, 3_0_2, 5_1_8, 1_1_1, 2_6_8, 2_9_5_6, 1_1_5, 1_4_9, 4_4_2_7, 1_0_7, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [1_3_9, 1_2_3_5, 2_7_9_9, 1_8_2_8_9, 1_7_7_8_0, 2_0_4, 1_0_9, 9_4_7_4, 1_2_9_6, 1_0_7, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]], '''attention_mask''': [[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0], [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]]}  # noqa: E501
      # fmt: on

      self.tokenizer_integration_test_util(
          expected_encoding=lowerCamelCase__ ,   model_name='''google/bigbird-pegasus-large-arxiv''' ,   revision='''ba85d0851d708441f91440d509690f1ab6353415''' ,   )




@require_sentencepiece
@require_tokenizers
class 						lowercase__	(  snake_case_,					unittest.TestCase   ):






   '''simple docstring'''







   _snake_case		   =							PegasusTokenizer
   _snake_case		   =							PegasusTokenizerFast
   _snake_case		   =							True
   _snake_case		   =							True







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      super().setUp()

      # We have a SentencePiece fixture for testing
      UpperCamelCase       =  PegasusTokenizer(lowerCamelCase__ ,   offset=0 ,   mask_token_sent=lowerCamelCase__ ,   mask_token='''[MASK]'''   )
      tokenizer.save_pretrained(self.tmpdirname   )







   @cached_property
   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      return PegasusTokenizer.from_pretrained('''google/bigbird-pegasus-large-arxiv'''   )







   def       UpperCAmelCase				(			self ,   **lowerCamelCase__   ):

      '''simple docstring'''







      return PegasusTokenizer.from_pretrained(self.tmpdirname ,   **lowerCamelCase__   )







   def       UpperCAmelCase				(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      return ("This is a test", "This is a test")







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  self.rust_tokenizer_class.from_pretrained(self.tmpdirname   )
      UpperCamelCase       =  self.tokenizer_class.from_pretrained(self.tmpdirname   )
      UpperCamelCase       =  (
          '''Let\'s see which <unk> is the better <unk_token> one [MASK] It seems like this [MASK] was important </s>'''
          ''' <pad> <pad> <pad>'''
      )
      UpperCamelCase       =  rust_tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__ ,   add_special_tokens=lowerCamelCase__   ).input_ids[0]
      UpperCamelCase       =  py_tokenizer([raw_input_str] ,   return_tensors=lowerCamelCase__ ,   add_special_tokens=lowerCamelCase__   ).input_ids[0]
      self.assertListEqual(lowerCamelCase__ ,   lowerCamelCase__   )







   @require_torch
   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  ['''This is going to be way too long.''' * 1_0_0_0, '''short example''']
      UpperCamelCase       =  ['''not super long but more than 5 tokens''', '''tiny''']
      UpperCamelCase       =  self._large_tokenizer(lowerCamelCase__ ,   padding=lowerCamelCase__ ,   truncation=lowerCamelCase__ ,   return_tensors='''pt'''   )
      UpperCamelCase       =  self._large_tokenizer(
          text_target=lowerCamelCase__ ,   max_length=5 ,   padding=lowerCamelCase__ ,   truncation=lowerCamelCase__ ,   return_tensors='''pt'''   )

      assert batch.input_ids.shape == (2, 4_0_9_6)
      assert batch.attention_mask.shape == (2, 4_0_9_6)
      assert targets["input_ids"].shape == (2, 5)
      assert len(lowerCamelCase__   ) == 2  # input_ids, attention_mask.







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  (
          '''This is an example string that is used to test the original TF implementation against the HF'''
          ''' implementation'''
      )

      UpperCamelCase       =  self._large_tokenizer(lowerCamelCase__   ).input_ids

      self.assertListEqual(
          lowerCamelCase__ ,   [1_8_2, 1_1_7, 1_4_2, 5_8_7, 4_2_1_1, 1_2_0, 1_1_7, 2_6_3, 1_1_2, 8_0_4, 1_0_9, 8_5_6, 2_5_0_1_6, 3_1_3_7, 4_6_4, 1_0_9, 2_6_9_5_5, 3_1_3_7, 1] ,   )





