
"""simple docstring"""







from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCamelCase__           =	0

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

lowerCamelCase__           =	tuple[int, int]




class 				A__ :

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

				def 							__lowerCamelCase							(   self				):
					__lowerCAmelCase    :		Optional[Any]		    =   self.pos_x - self.goal_x
					__lowerCAmelCase    :		Optional[int]		    =   self.pos_y - self.goal_y
					if HEURISTIC == 1:
						return abs(__A				) + abs(__A				)
					else:
						return sqrt(dy**2 + dx**2				)







				def __lt__(   self ,	_SCREAMING_SNAKE_CASE				):
					return self.f_cost < other.f_cost




class 				A__ :

				def __init__(   self ,	_SCREAMING_SNAKE_CASE ,	_SCREAMING_SNAKE_CASE				):
					__lowerCAmelCase    :		Union[str, Any]		    =   Node(start[1] ,	start[0] ,	goal[1] ,	goal[0] ,	0 ,	__A				)
					__lowerCAmelCase    :		Any		    =   Node(goal[1] ,	goal[0] ,	goal[1] ,	goal[0] ,	9_99_99 ,	__A				)

					__lowerCAmelCase    :		Union[str, Any]		    =   [self.start]
					__lowerCAmelCase    :		int		    =   []

					__lowerCAmelCase    :		str		    =   False

				def 							__lowerCamelCase							(   self				):
					while self.open_nodes:
						# Open Nodes are sorted using __lt__
						self.open_nodes.sort()
						__lowerCAmelCase    :		List[str]		    =   self.open_nodes.pop(0				)

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

						self.closed_nodes.append(__A				)
						__lowerCAmelCase    :		List[str]		    =   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
								__lowerCAmelCase    :		Dict		    =   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 							__lowerCamelCase							(   self ,	_SCREAMING_SNAKE_CASE				):
					__lowerCAmelCase    :		Optional[int]		    =   []
					for action in delta:
						__lowerCAmelCase    :		int		    =   parent.pos_x + action[1]
						__lowerCAmelCase    :		Optional[int]		    =   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 							__lowerCamelCase							(   self ,	_SCREAMING_SNAKE_CASE				):
					__lowerCAmelCase    :		Union[str, Any]		    =   node
					__lowerCAmelCase    :		Union[str, Any]		    =   []
					while current_node is not None:
						path.append((current_node.pos_y, current_node.pos_x)				)
						__lowerCAmelCase    :		Any		    =   current_node.parent
					path.reverse()
					return path




class 				A__ :

				def __init__(   self ,	_SCREAMING_SNAKE_CASE ,	_SCREAMING_SNAKE_CASE				):
					__lowerCAmelCase    :		Optional[int]		    =   AStar(__A ,	__A				)
					__lowerCAmelCase    :		Any		    =   AStar(__A ,	__A				)
					__lowerCAmelCase    :		Dict		    =   False

				def 							__lowerCamelCase							(   self				):
					while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
						self.fwd_astar.open_nodes.sort()
						self.bwd_astar.open_nodes.sort()
						__lowerCAmelCase    :		List[Any]		    =   self.fwd_astar.open_nodes.pop(0				)
						__lowerCAmelCase    :		Optional[int]		    =   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				)

						__lowerCAmelCase    :		Any		    =   current_bwd_node
						__lowerCAmelCase    :		Optional[int]		    =   current_fwd_node

						__lowerCAmelCase    :		str		    =   {
						    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
									__lowerCAmelCase    :		Any		    =   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 							__lowerCamelCase							(   self ,	_SCREAMING_SNAKE_CASE ,	_SCREAMING_SNAKE_CASE				):
					__lowerCAmelCase    :		Optional[int]		    =   self.fwd_astar.retrace_path(__A				)
					__lowerCAmelCase    :		int		    =   self.bwd_astar.retrace_path(__A				)
					bwd_path.pop()
					bwd_path.reverse()
					__lowerCAmelCase    :		int		    =   fwd_path + bwd_path
					return path


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

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

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

"""simple docstring"""







from transformers import HfArgumentParser, TensorFlowBenchmark, TensorFlowBenchmarkArguments
def 					__lowerCAmelCase       ():
	__lowerCAmelCase    :		Tuple		    =   HfArgumentParser(_UpperCamelCase	)
	__lowerCAmelCase    :		Optional[Any]		    =   parser.parse_args_into_dataclasses()[0]
	__lowerCAmelCase    :		int		    =   TensorFlowBenchmark(args=_UpperCamelCase	)
	try:
		__lowerCAmelCase    :		Dict		    =   parser.parse_args_into_dataclasses()[0]
	except ValueError as e:
		__lowerCAmelCase    :		List[Any]		    =   'Arg --no_{0} is no longer used, please use --no-{0} instead.'
		__lowerCAmelCase    :		Union[str, Any]		    =   ' '.join(str(_UpperCamelCase	).split(' '	)[:-1]	)
		__lowerCAmelCase    :		List[str]		    =   ''
		__lowerCAmelCase    :		Any		    =   eval(str(_UpperCamelCase	).split(' '	)[-1]	)
		__lowerCAmelCase    :		Dict		    =   []
		for arg in depreciated_args:
			# arg[2:] removes '--'
			if arg[2:] in TensorFlowBenchmark.deprecated_args:
				# arg[5:] removes '--no_'
				full_error_msg += arg_error_msg.format(arg[5:]	)
			else:
				wrong_args.append(_UpperCamelCase	)
		if len(_UpperCamelCase	) > 0:
			__lowerCAmelCase    :		Any		    =   full_error_msg + begin_error_msg + str(_UpperCamelCase	)
		raise ValueError(_UpperCamelCase	)
	benchmark.run()


if __name__ == "__main__":
							main()