



'''simple docstring'''





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowercase_	 =						0

lowercase_	 =						[
    [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],
]

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

lowercase_	 =						tuple[int, int]






class __A    :



 '''simple docstring'''







 def __init__(self				,     A				,     A				,     A				,     A				,     A				,     A				,     )					->  None:


      """simple docstring"""



      _a											=						pos_x
      _a											=						pos_y
      _a											=						(pos_y, pos_x)
      _a											=						goal_x
      _a											=						goal_y
      _a											=						g_cost
      _a											=						parent
      _a											=						self.calculate_heuristic()
      _a											=						self.g_cost + self.h_cost



 def       a__						(self )					->  float:


      """simple docstring"""



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



 def __lt__(self				,     A )					->  bool:


      """simple docstring"""



      return self.f_cost < other.f_cost






class __A    :



 '''simple docstring'''







 def __init__(self				,     A				,     A )					->  Optional[Any]:


      """simple docstring"""



      _a											=						Node(start[1]				,     start[0]				,     goal[1]				,     goal[0]				,     0				,     A )
      _a											=						Node(goal[1]				,     goal[0]				,     goal[1]				,     goal[0]				,     99_999				,     A )

      _a											=						[self.start]
      _a											=						[]

      _a											=						False



 def       a__						(self )					->  list[TPosition]:


      """simple docstring"""



      while self.open_nodes:
           # Open Nodes are sorted using __lt__
           self.open_nodes.sort()
           _a											=						self.open_nodes.pop(0 )

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

           self.closed_nodes.append(A )
           _a											=						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
                     _a											=						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       a__						(self				,     A )					->  list[Node]:


      """simple docstring"""



      _a											=						[]
      for action in delta:
           _a											=						parent.pos_x + action[1]
           _a											=						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       a__						(self				,     A )					->  list[TPosition]:


      """simple docstring"""



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






class __A    :



 '''simple docstring'''







 def __init__(self				,     A				,     A )					->  None:


      """simple docstring"""



      _a											=						AStar(A				,     A )
      _a											=						AStar(A				,     A )
      _a											=						False



 def       a__						(self )					->  list[TPosition]:


      """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()
           _a											=						self.fwd_astar.open_nodes.pop(0 )
           _a											=						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 )

           _a											=						current_bwd_node
           _a											=						current_fwd_node

           _a											=						{
               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
                          _a											=						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       a__						(self				,     A				,     A )					->  list[TPosition]:


      """simple docstring"""



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


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

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

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








'''simple docstring'''





from __future__ import annotations

import typing
from collections.abc import Iterable

import numpy as np

lowercase_	 =						typing.Union[Iterable[float], Iterable[int], np.ndarray]  # noqa: UP007
lowercase_	 =						typing.Union[np.floataa, int, float]  # noqa: UP007




def lowerCAmelCase						(__A						,			__A):



     """simple docstring"""



     return np.sqrt(np.sum((np.asarray(__A) - np.asarray(__A)) ** 2))




def lowerCAmelCase						(__A						,			__A):



     """simple docstring"""



     return sum((va - va) ** 2 for va, va in zip(__A						,			__A)) ** (1 / 2)


if __name__ == "__main__":




  def lowerCAmelCase						():



       """simple docstring"""



       from timeit import timeit

       print('''Without Numpy''')
       print(
           timeit(
               '''euclidean_distance_no_np([1, 2, 3], [4, 5, 6])'''						,			number=10_000						,			globals=globals()						,			))
       print('''With Numpy''')
       print(
           timeit(
               '''euclidean_distance([1, 2, 3], [4, 5, 6])'''						,			number=10_000						,			globals=globals()						,			))
  benchmark()



