






"""simple docstring"""



from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
A__	:    Dict			 = 0

A__	:    Optional[int]			 = [
    [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],
]

A__	:    List[str]			 = [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

A__	:    Any			 = tuple[int, int]







class        lowercase__      :


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


			def      UpperCAmelCase__						(				self					:  str ):
										lowerCamelCase_	:							Tuple									=self.pos_x - self.goal_x
										lowerCamelCase_	:							Union[str, Any]									=self.pos_y - self.goal_y
										if HEURISTIC == 1:
																	return abs(lowercase_ ) + abs(lowercase_ )
										else:
																	return sqrt(dy**2 + dx**2 )


			def __lt__(				self					:  Any       ,	snake_case__					:  List[Any] ):
										return self.f_cost < other.f_cost







class        lowercase__      :


			def __init__(				self					:  Optional[Any]       ,	snake_case__					:  Union[str, Any]       ,	snake_case__					:  Optional[Any] ):
										lowerCamelCase_	:							Tuple									=Node(start[1]       ,	start[0]       ,	goal[1]       ,	goal[0]       ,	0       ,	lowercase_ )
										lowerCamelCase_	:							List[Any]									=Node(goal[1]       ,	goal[0]       ,	goal[1]       ,	goal[0]       ,	9_9999       ,	lowercase_ )

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

										lowerCamelCase_	:							int									=False


			def      UpperCAmelCase__						(				self					:  str ):
										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(lowercase_ )

																	self.closed_nodes.append(lowercase_ )
																	lowerCamelCase_	:							str									=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
																															lowerCamelCase_	:							Union[str, 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      UpperCAmelCase__						(				self					:  Optional[Any]       ,	snake_case__					:  Optional[int] ):
										lowerCamelCase_	:							Any									=[]
										for action in delta:
																	lowerCamelCase_	:							str									=parent.pos_x + action[1]
																	lowerCamelCase_	:							int									=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      UpperCAmelCase__						(				self					:  List[Any]       ,	snake_case__					:  List[str] ):
										lowerCamelCase_	:							Optional[int]									=node
										lowerCamelCase_	:							int									=[]
										while current_node is not None:
																	path.append((current_node.pos_y, current_node.pos_x) )
																	lowerCamelCase_	:							Optional[int]									=current_node.parent
										path.reverse()
										return path







class        lowercase__      :


			def __init__(				self					:  List[str]       ,	snake_case__					:  Optional[Any]       ,	snake_case__					:  Union[str, Any] ):
										lowerCamelCase_	:							Dict									=AStar(lowercase_       ,	lowercase_ )
										lowerCamelCase_	:							Optional[Any]									=AStar(lowercase_       ,	lowercase_ )
										lowerCamelCase_	:							Tuple									=False


			def      UpperCAmelCase__						(				self					:  Dict ):
										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[str]									=self.fwd_astar.open_nodes.pop(0 )
																	lowerCamelCase_	:							List[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_ )

																	lowerCamelCase_	:							Tuple									=current_bwd_node
																	lowerCamelCase_	:							str									=current_fwd_node

																	lowerCamelCase_	:							Dict									={
																	    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
																																						lowerCamelCase_	:							List[Any]									=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      UpperCAmelCase__						(				self					:  List[Any]       ,	snake_case__					:  List[str]       ,	snake_case__					:  List[str] ):
										lowerCamelCase_	:							List[Any]									=self.fwd_astar.retrace_path(lowercase_ )
										lowerCamelCase_	:							int									=self.bwd_astar.retrace_path(lowercase_ )
										bwd_path.pop()
										bwd_path.reverse()
										lowerCamelCase_	:							Any									=fwd_path + bwd_path
										return path


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

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

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











"""simple docstring"""



from typing import TYPE_CHECKING

from ...utils import _LazyModule


A__	:    Tuple			 = {'tokenization_byt5': ['ByT5Tokenizer']}


if TYPE_CHECKING:
						from .tokenization_byta import ByTaTokenizer
else:
						import sys

						A__	:    Dict			 = _LazyModule(__name__, globals()['__file__'], _import_structure, module_spec=__spec__)



