


'''simple docstring'''



from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
__lowercase     :						List[Any]	=     0

__lowercase     :						Union[str, 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],
]

__lowercase     :						Dict	=     [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

__lowercase     :						List[str]	=     tuple[int, int]





class 							__UpperCamelCase    :




	def __init__(       self						,    __a						,    __a						,    __a						,    __a						,    __a						,    __a						,    ):

						'''simple docstring'''





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




	def 				__UpperCAmelCase							(       self							):

						'''simple docstring'''





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





	def __lt__(       self						,    __a							):

						'''simple docstring'''





						return self.f_cost < other.f_cost





class 							__UpperCamelCase    :




	def __init__(       self						,    __a						,    __a							):

						'''simple docstring'''





						__a      :	List[str]    =  Node(start[1]						,    start[0]						,    goal[1]						,    goal[0]						,    0						,    UpperCAmelCase_							)
						__a      :	Any    =  Node(goal[1]						,    goal[0]						,    goal[1]						,    goal[0]						,    9_9999						,    UpperCAmelCase_							)

						__a      :	str    =  [self.start]
						__a      :	list[Node]    =  []

						__a      :	List[str]    =  False




	def 				__UpperCAmelCase							(       self							):

						'''simple docstring'''





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

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

											self.closed_nodes.append(UpperCAmelCase_							)
											__a      :	List[Any]    =  self.get_successors(UpperCAmelCase_							)

											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(UpperCAmelCase_							)
																else:
																					# retrieve the best current path
																					__a      :	List[str]    =  self.open_nodes.pop(self.open_nodes.index(UpperCAmelCase_							)							)

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

						return [self.start.pos]




	def 				__UpperCAmelCase							(       self						,    __a							):

						'''simple docstring'''





						__a      :	int    =  []
						for action in delta:
											__a      :	Any    =  parent.pos_x + action[1]
											__a      :	Dict    =  parent.pos_y + action[0]
											if not (0 <= pos_x <= len(grid[0]							) - 1 and 0 <= pos_y <= len(UpperCAmelCase_							) - 1):
																continue

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

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





	def 				__UpperCAmelCase							(       self						,    __a							):

						'''simple docstring'''





						__a      :	List[str]    =  node
						__a      :	Dict    =  []
						while current_node is not None:
											path.append((current_node.pos_y, current_node.pos_x)							)
											__a      :	int    =  current_node.parent
						path.reverse()
						return path





class 							__UpperCamelCase    :




	def __init__(       self						,    __a						,    __a							):

						'''simple docstring'''





						__a      :	Dict    =  AStar(UpperCAmelCase_						,    UpperCAmelCase_							)
						__a      :	str    =  AStar(UpperCAmelCase_						,    UpperCAmelCase_							)
						__a      :	int    =  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()
											__a      :	List[str]    =  self.fwd_astar.open_nodes.pop(0							)
											__a      :	str    =  self.bwd_astar.open_nodes.pop(0							)

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

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

											__a      :	Any    =  current_bwd_node
											__a      :	Tuple    =  current_fwd_node

											__a      :	List[str]    =  {
											    self.fwd_astar: self.fwd_astar.get_successors(UpperCAmelCase_							),
											    self.bwd_astar: self.bwd_astar.get_successors(UpperCAmelCase_							),
											}

											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(UpperCAmelCase_							)
																					else:
																										# retrieve the best current path
																										__a      :	Optional[Any]    =  astar.open_nodes.pop(
																										    astar.open_nodes.index(UpperCAmelCase_							)							)

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

						return [self.fwd_astar.start.pos]





	def 				__UpperCAmelCase							(       self						,    __a						,    __a							):

						'''simple docstring'''





						__a      :	Optional[Any]    =  self.fwd_astar.retrace_path(UpperCAmelCase_							)
						__a      :	Tuple    =  self.bwd_astar.retrace_path(UpperCAmelCase_							)
						bwd_path.pop()
						bwd_path.reverse()
						__a      :	Optional[Any]    =  fwd_path + bwd_path
						return path


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

	__lowercase     :						Tuple	=     time.time()
	__lowercase     :						List[Any]	=     AStar(init, goal)
	__lowercase     :						int	=     a_star.search()
	__lowercase     :						List[Any]	=     time.time() - start_time
	print(f'''AStar execution time = {end_time:f} seconds''')

	__lowercase     :						List[str]	=     time.time()
	__lowercase     :						Tuple	=     BidirectionalAStar(init, goal)
	__lowercase     :						List[str]	=     time.time() - bd_start_time
	print(f'''BidirectionalAStar execution time = {bd_end_time:f} seconds''')







'''simple docstring'''



# tests directory-specific settings - this file is run automatically
# by pytest before any tests are run

import sys
import warnings
from os.path import abspath, dirname, join


# allow having multiple repository checkouts and not needing to remember to rerun
# 'pip install -e .[dev]' when switching between checkouts and running tests.
__lowercase     :						Dict	=     abspath(join(dirname(dirname(dirname(__file__))), 'src'))
sys.path.insert(1, git_repo_path)


# silence FutureWarning warnings in tests since often we can't act on them until
# they become normal warnings - i.e. the tests still need to test the current functionality
warnings.simplefilter(action='ignore', category=FutureWarning)






def   lowerCamelCase							(_SCREAMING_SNAKE_CASE				:       Optional[Any]       ):
					from transformers.testing_utils import pytest_addoption_shared

					pytest_addoption_shared(_SCREAMING_SNAKE_CASE       )






def   lowerCamelCase							(_SCREAMING_SNAKE_CASE				:       List[str]       ):
					from transformers.testing_utils import pytest_terminal_summary_main

					__a      :	Any    =  terminalreporter.config.getoption('--make-reports'       )
					if make_reports:
										pytest_terminal_summary_main(_SCREAMING_SNAKE_CASE						,				id=_SCREAMING_SNAKE_CASE       )



