



'''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        lowerCAmelCase_:
  '''simple docstring'''




  def __init__(    self  ,__UpperCAmelCase  ,__UpperCAmelCase  ,__UpperCAmelCase  ,__UpperCAmelCase  ,__UpperCAmelCase  ,__UpperCAmelCase  ,)    ->		None:
      lowerCAmelCase__ :  List[str]							      =					pos_x
      lowerCAmelCase__ :  Any							      =					pos_y
      lowerCAmelCase__ :  Union[str, Any]							      =					(pos_y, pos_x)
      lowerCAmelCase__ :  Optional[Any]							      =					goal_x
      lowerCAmelCase__ :  int							      =					goal_y
      lowerCAmelCase__ :  int							      =					g_cost
      lowerCAmelCase__ :  int							      =					parent
      lowerCAmelCase__ :  Union[str, Any]							      =					self.calculate_heuristic()
      lowerCAmelCase__ :  str							      =					self.g_cost + self.h_cost




  def 							UpperCAmelCase_	(    self      )    ->		float:
      lowerCAmelCase__ :  Union[str, Any]							      =					self.pos_x - self.goal_x
      lowerCAmelCase__ :  Union[str, Any]							      =					self.pos_y - self.goal_y
      if HEURISTIC == 1:
          return abs(__UpperCAmelCase      ) + abs(__UpperCAmelCase      )
      else:
          return sqrt(dy**2 + dx**2      )






  def __lt__(    self  ,__UpperCAmelCase      )    ->		bool:
      return self.f_cost < other.f_cost







class        lowerCAmelCase_:
  '''simple docstring'''




  def __init__(    self  ,__UpperCAmelCase  ,__UpperCAmelCase      )    ->		List[str]:
      lowerCAmelCase__ :  int							      =					Node(start[1]  ,start[0]  ,goal[1]  ,goal[0]  ,0  ,__UpperCAmelCase      )
      lowerCAmelCase__ :  Optional[int]							      =					Node(goal[1]  ,goal[0]  ,goal[1]  ,goal[0]  ,9_9999  ,__UpperCAmelCase      )

      lowerCAmelCase__ :  int							      =					[self.start]
      lowerCAmelCase__ :  list[Node]							      =					[]

      lowerCAmelCase__ :  int							      =					False




  def 							UpperCAmelCase_	(    self      )    ->		list[TPosition]:
      while self.open_nodes:
          # Open Nodes are sorted using __lt__
          self.open_nodes.sort()
          lowerCAmelCase__ :  Optional[Any]							      =					self.open_nodes.pop(0      )

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

          self.closed_nodes.append(__UpperCAmelCase      )
          lowerCAmelCase__ :  Tuple							      =					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
                  lowerCAmelCase__ :  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  ,__UpperCAmelCase      )    ->		list[Node]:
      lowerCAmelCase__ :  List[Any]							      =					[]
      for action in delta:
          lowerCAmelCase__ :  Union[str, Any]							      =					parent.pos_x + action[1]
          lowerCAmelCase__ :  Union[str, Any]							      =					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  ,__UpperCAmelCase      )    ->		list[TPosition]:
      lowerCAmelCase__ :  Dict							      =					node
      lowerCAmelCase__ :  Any							      =					[]
      while current_node is not None:
          path.append((current_node.pos_y, current_node.pos_x)      )
          lowerCAmelCase__ :  List[Any]							      =					current_node.parent
      path.reverse()
      return path







class        lowerCAmelCase_:
  '''simple docstring'''




  def __init__(    self  ,__UpperCAmelCase  ,__UpperCAmelCase      )    ->		None:
      lowerCAmelCase__ :  str							      =					AStar(__UpperCAmelCase  ,__UpperCAmelCase      )
      lowerCAmelCase__ :  Union[str, Any]							      =					AStar(__UpperCAmelCase  ,__UpperCAmelCase      )
      lowerCAmelCase__ :  Tuple							      =					False




  def 							UpperCAmelCase_	(    self      )    ->		list[TPosition]:
      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__ :  Optional[int]							      =					self.fwd_astar.open_nodes.pop(0      )
          lowerCAmelCase__ :  Any							      =					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      )

          lowerCAmelCase__ :  Dict							      =					current_bwd_node
          lowerCAmelCase__ :  Optional[Any]							      =					current_fwd_node

          lowerCAmelCase__ :  int							      =					{
              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
                      lowerCAmelCase__ :  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  ,__UpperCAmelCase  ,__UpperCAmelCase      )    ->		list[TPosition]:
      lowerCAmelCase__ :  List[Any]							      =					self.fwd_astar.retrace_path(__UpperCAmelCase      )
      lowerCAmelCase__ :  Any							      =					self.bwd_astar.retrace_path(__UpperCAmelCase      )
      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 ...configuration_utils import PretrainedConfig
from ...utils import logging
from ...utils.backbone_utils import BackboneConfigMixin, get_aligned_output_features_output_indices


_lowerCAmelCase      						=	logging.get_logger(__name__)

_lowerCAmelCase      						=	{
    '''microsoft/focalnet-tiny''': '''https://huggingface.co/microsoft/focalnet-tiny/resolve/main/config.json''',
}






class        lowerCAmelCase_(				SCREAMING_SNAKE_CASE_						, SCREAMING_SNAKE_CASE_     ):
  '''simple docstring'''




  __lowercase							:      Optional[Any]				=      '''focalnet'''




  def __init__(    self  ,__UpperCAmelCase=224  ,__UpperCAmelCase=4  ,__UpperCAmelCase=3  ,__UpperCAmelCase=96  ,__UpperCAmelCase=False  ,__UpperCAmelCase=[192, 384, 768, 768]  ,__UpperCAmelCase=[2, 2, 6, 2]  ,__UpperCAmelCase=[2, 2, 2, 2]  ,__UpperCAmelCase=[3, 3, 3, 3]  ,__UpperCAmelCase="gelu"  ,__UpperCAmelCase=4.0  ,__UpperCAmelCase=0.0  ,__UpperCAmelCase=0.1  ,__UpperCAmelCase=False  ,__UpperCAmelCase=1E-4  ,__UpperCAmelCase=False  ,__UpperCAmelCase=False  ,__UpperCAmelCase=False  ,__UpperCAmelCase=0.0_2  ,__UpperCAmelCase=1E-5  ,__UpperCAmelCase=32  ,__UpperCAmelCase=None  ,__UpperCAmelCase=None  ,**__UpperCAmelCase  ,)    ->		Optional[Any]:
      super().__init__(**__UpperCAmelCase      )

      lowerCAmelCase__ :  Dict							      =					image_size
      lowerCAmelCase__ :  int							      =					patch_size
      lowerCAmelCase__ :  str							      =					num_channels
      lowerCAmelCase__ :  Dict							      =					embed_dim
      lowerCAmelCase__ :  List[str]							      =					use_conv_embed
      lowerCAmelCase__ :  List[Any]							      =					hidden_sizes
      lowerCAmelCase__ :  Dict							      =					depths
      lowerCAmelCase__ :  List[str]							      =					focal_levels
      lowerCAmelCase__ :  List[str]							      =					focal_windows
      lowerCAmelCase__ :  Dict							      =					hidden_act
      lowerCAmelCase__ :  Dict							      =					mlp_ratio
      lowerCAmelCase__ :  Tuple							      =					hidden_dropout_prob
      lowerCAmelCase__ :  Tuple							      =					drop_path_rate
      lowerCAmelCase__ :  Dict							      =					use_layerscale
      lowerCAmelCase__ :  Optional[Any]							      =					layerscale_value
      lowerCAmelCase__ :  str							      =					use_post_layernorm
      lowerCAmelCase__ :  Union[str, Any]							      =					use_post_layernorm_in_modulation
      lowerCAmelCase__ :  int							      =					normalize_modulator
      lowerCAmelCase__ :  Optional[Any]							      =					initializer_range
      lowerCAmelCase__ :  List[str]							      =					layer_norm_eps
      lowerCAmelCase__ :  List[Any]							      =					encoder_stride
      lowerCAmelCase__ :  Dict							      =					["""stem"""] + [F"""stage{idx}""" for idx in range(1  ,len(self.depths      ) + 1      )]
      lowerCAmelCase__      ,   lowerCAmelCase__ :  Any							      =					get_aligned_output_features_output_indices(
          out_features=__UpperCAmelCase  ,out_indices=__UpperCAmelCase  ,stage_names=self.stage_names      )


