from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_UpperCAmelCase						=		0

_UpperCAmelCase						=		[
    [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],
]

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

_UpperCAmelCase						=		tuple[int, int]





class UpperCAmelCase						:


				'''simple docstring'''






				def __init__(						self		,	lowercase		,	lowercase		,	lowercase		,	lowercase		,	lowercase		,	lowercase		,	):



						"""simple docstring"""





						A_		:				List[str]     =      pos_x
						A_		:				List[str]     =      pos_y
						A_		:				Union[str, Any]     =      (pos_y, pos_x)
						A_		:				Dict     =      goal_x
						A_		:				List[Any]     =      goal_y
						A_		:				List[str]     =      g_cost
						A_		:				Any     =      parent
						A_		:				Any     =      self.calculate_heuristic()
						A_		:				str     =      self.g_cost + self.h_cost
				def   lowerCAmelCase_   (						self					):



						"""simple docstring"""





						A_		:				Optional[int]     =      self.pos_x - self.goal_x
						A_		:				List[str]     =      self.pos_y - self.goal_y
						if HEURISTIC == 1:
								return abs(lowercase					) + abs(lowercase					)
						else:
								return sqrt(dy**2 + dx**2					)







				def __lt__(						self		,	lowercase					):



						"""simple docstring"""





						return self.f_cost < other.f_cost





class UpperCAmelCase						:


				'''simple docstring'''






				def __init__(						self		,	lowercase		,	lowercase					):



						"""simple docstring"""





						A_		:				str     =      Node(start[1]		,	start[0]		,	goal[1]		,	goal[0]		,	0		,	lowercase					)
						A_		:				List[str]     =      Node(goal[1]		,	goal[0]		,	goal[1]		,	goal[0]		,	9_9_9_9_9		,	lowercase					)

						A_		:				Tuple     =      [self.start]
						A_		:				Dict     =      []

						A_		:				Tuple     =      False
				def   lowerCAmelCase_   (						self					):



						"""simple docstring"""





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

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

								self.closed_nodes.append(lowercase					)
								A_		:				Optional[Any]     =      self.get_successors(lowercase					)

								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(lowercase					)
										else:
												# retrieve the best current path
												A_		:				Any     =      self.open_nodes.pop(self.open_nodes.index(lowercase					)					)

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

						return [self.start.pos]
				def   lowerCAmelCase_   (						self		,	lowercase					):



						"""simple docstring"""





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

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

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







				def   lowerCAmelCase_   (						self		,	lowercase					):



						"""simple docstring"""





						A_		:				Union[str, Any]     =      node
						A_		:				Tuple     =      []
						while current_node is not None:
								path.append((current_node.pos_y, current_node.pos_x)					)
								A_		:				List[str]     =      current_node.parent
						path.reverse()
						return path





class UpperCAmelCase						:


				'''simple docstring'''






				def __init__(						self		,	lowercase		,	lowercase					):



						"""simple docstring"""





						A_		:				List[Any]     =      AStar(lowercase		,	lowercase					)
						A_		:				Dict     =      AStar(lowercase		,	lowercase					)
						A_		:				Any     =      False
				def   lowerCAmelCase_   (						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_		:				Tuple     =      self.fwd_astar.open_nodes.pop(0					)
								A_		:				Union[str, Any]     =      self.bwd_astar.open_nodes.pop(0					)

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

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

								A_		:				Dict     =      current_bwd_node
								A_		:				Dict     =      current_fwd_node

								A_		:				Optional[Any]     =      {
								    self.fwd_astar: self.fwd_astar.get_successors(lowercase					),
								    self.bwd_astar: self.bwd_astar.get_successors(lowercase					),
								}

								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(lowercase					)
												else:
														# retrieve the best current path
														A_		:				Tuple     =      astar.open_nodes.pop(
														    astar.open_nodes.index(lowercase					)					)

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

						return [self.fwd_astar.start.pos]







				def   lowerCAmelCase_   (						self		,	lowercase		,	lowercase					):



						"""simple docstring"""





						A_		:				Tuple     =      self.fwd_astar.retrace_path(lowercase					)
						A_		:				str     =      self.bwd_astar.retrace_path(lowercase					)
						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]
	_UpperCAmelCase						=		(0, 0)
	_UpperCAmelCase						=		(len(grid) - 1, len(grid[0]) - 1)
	for elem in grid:
		print(elem)

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

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








from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_sentencepiece_available


SCREAMING_SNAKE_CASE							:List[Any]							 =				{}

try:
					if not is_sentencepiece_available():
										raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
					pass
else:
					SCREAMING_SNAKE_CASE							:List[str]							 =				['BartphoTokenizer']

if TYPE_CHECKING:
					try:
										if not is_sentencepiece_available():
															raise OptionalDependencyNotAvailable()
					except OptionalDependencyNotAvailable:
										pass
					else:
										from .tokenization_bartpho import BartphoTokenizer

else:
					import sys

					SCREAMING_SNAKE_CASE							:Union[str, Any]							 =				_LazyModule(__name__, globals()['__file__'], _import_structure, module_spec=__spec__)
