



'''simple docstring'''


from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowercase							       =			0

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

lowercase							       =			tuple[int, int]







class 	UpperCAmelCase	:


 '''simple docstring'''




 def __init__(   self							,  lowerCAmelCase_							,  lowerCAmelCase_							,  lowerCAmelCase_							,  lowerCAmelCase_							,  lowerCAmelCase_							,  lowerCAmelCase_							,  ) ->      None:



      """simple docstring"""







      a_       		=pos_x
      a_       		=pos_y
      a_       		=(pos_y, pos_x)
      a_       		=goal_x
      a_       		=goal_y
      a_       		=g_cost
      a_       		=parent
      a_       		=self.calculate_heuristic()
      a_       		=self.g_cost + self.h_cost




 def       lowercase_  (   self) ->      float:



      """simple docstring"""







      a_       		=self.pos_x - self.goal_x
      a_       		=self.pos_y - self.goal_y
      if HEURISTIC == 1:
           return abs(_lowerCamelCase) + abs(_lowerCamelCase)
      else:
           return sqrt(dy**2 + dx**2)




 def __lt__(   self							,  lowerCAmelCase_) ->      bool:



      """simple docstring"""







      return self.f_cost < other.f_cost







class 	UpperCAmelCase	:


 '''simple docstring'''




 def __init__(   self							,  lowerCAmelCase_							,  lowerCAmelCase_) ->      List[Any]:



      """simple docstring"""







      a_       		=Node(start[1]							,  start[0]							,  goal[1]							,  goal[0]							,  0							,  _lowerCamelCase)
      a_       		=Node(goal[1]							,  goal[0]							,  goal[1]							,  goal[0]							,  9_9_9_9_9							,  _lowerCamelCase)

      a_       		=[self.start]
      a_       		=[]

      a_       		=False




 def       lowercase_  (   self) ->      list[TPosition]:



      """simple docstring"""







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

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

           self.closed_nodes.append(_lowerCamelCase)
           a_       		=self.get_successors(_lowerCamelCase)

           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(_lowerCamelCase)
                else:
                     # retrieve the best current path
                     a_       		=self.open_nodes.pop(self.open_nodes.index(_lowerCamelCase))

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

      return [self.start.pos]




 def       lowercase_  (   self							,  lowerCAmelCase_) ->      list[Node]:



      """simple docstring"""







      a_       		=[]
      for action in delta:
           a_       		=parent.pos_x + action[1]
           a_       		=parent.pos_y + action[0]
           if not (0 <= pos_x <= len(grid[0]) - 1 and 0 <= pos_y <= len(_lowerCamelCase) - 1):
                continue

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

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




 def       lowercase_  (   self							,  lowerCAmelCase_) ->      list[TPosition]:



      """simple docstring"""







      a_       		=node
      a_       		=[]
      while current_node is not None:
           path.append((current_node.pos_y, current_node.pos_x))
           a_       		=current_node.parent
      path.reverse()
      return path







class 	UpperCAmelCase	:


 '''simple docstring'''




 def __init__(   self							,  lowerCAmelCase_							,  lowerCAmelCase_) ->      None:



      """simple docstring"""







      a_       		=AStar(_lowerCamelCase							,  _lowerCamelCase)
      a_       		=AStar(_lowerCamelCase							,  _lowerCamelCase)
      a_       		=False




 def       lowercase_  (   self) ->      list[TPosition]:



      """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_       		=self.fwd_astar.open_nodes.pop(0)
           a_       		=self.bwd_astar.open_nodes.pop(0)

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

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

           a_       		=current_bwd_node
           a_       		=current_fwd_node

           a_       		={
               self.fwd_astar: self.fwd_astar.get_successors(_lowerCamelCase),
               self.bwd_astar: self.bwd_astar.get_successors(_lowerCamelCase),
           }

           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(_lowerCamelCase)
                     else:
                          # retrieve the best current path
                          a_       		=astar.open_nodes.pop(
                              astar.open_nodes.index(_lowerCamelCase))

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

      return [self.fwd_astar.start.pos]




 def       lowercase_  (   self							,  lowerCAmelCase_							,  lowerCAmelCase_) ->      list[TPosition]:



      """simple docstring"""







      a_       		=self.fwd_astar.retrace_path(_lowerCamelCase)
      a_       		=self.bwd_astar.retrace_path(_lowerCamelCase)
      bwd_path.pop()
      bwd_path.reverse()
      a_       		=fwd_path + bwd_path
      return path


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

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

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







'''simple docstring'''


from collections import OrderedDict
from typing import Mapping

from ...configuration_utils import PretrainedConfig
from ...onnx import OnnxConfig


lowercase							       =			{
    '''albert-base-v1''': '''https://huggingface.co/albert-base-v1/resolve/main/config.json''',
    '''albert-large-v1''': '''https://huggingface.co/albert-large-v1/resolve/main/config.json''',
    '''albert-xlarge-v1''': '''https://huggingface.co/albert-xlarge-v1/resolve/main/config.json''',
    '''albert-xxlarge-v1''': '''https://huggingface.co/albert-xxlarge-v1/resolve/main/config.json''',
    '''albert-base-v2''': '''https://huggingface.co/albert-base-v2/resolve/main/config.json''',
    '''albert-large-v2''': '''https://huggingface.co/albert-large-v2/resolve/main/config.json''',
    '''albert-xlarge-v2''': '''https://huggingface.co/albert-xlarge-v2/resolve/main/config.json''',
    '''albert-xxlarge-v2''': '''https://huggingface.co/albert-xxlarge-v2/resolve/main/config.json''',
}







class 	UpperCAmelCase	(		__a):


 '''simple docstring'''




 __magic_name__					: int  =      "albert"




 def __init__(   self							,  lowerCAmelCase_=3_0_0_0_0							,  lowerCAmelCase_=1_2_8							,  lowerCAmelCase_=4_0_9_6							,  lowerCAmelCase_=1_2							,  lowerCAmelCase_=1							,  lowerCAmelCase_=6_4							,  lowerCAmelCase_=1_6_3_8_4							,  lowerCAmelCase_=1							,  lowerCAmelCase_="gelu_new"							,  lowerCAmelCase_=0							,  lowerCAmelCase_=0							,  lowerCAmelCase_=5_1_2							,  lowerCAmelCase_=2							,  lowerCAmelCase_=0.0_2							,  lowerCAmelCase_=1e-12							,  lowerCAmelCase_=0.1							,  lowerCAmelCase_="absolute"							,  lowerCAmelCase_=0							,  lowerCAmelCase_=2							,  lowerCAmelCase_=3							,  **lowerCAmelCase_							,  ) ->      Any:



      """simple docstring"""







      super().__init__(pad_token_id=lowerCAmelCase_							,  bos_token_id=lowerCAmelCase_							,  eos_token_id=lowerCAmelCase_							,  **lowerCAmelCase_)

      a_       		=vocab_size
      a_       		=embedding_size
      a_       		=hidden_size
      a_       		=num_hidden_layers
      a_       		=num_hidden_groups
      a_       		=num_attention_heads
      a_       		=inner_group_num
      a_       		=hidden_act
      a_       		=intermediate_size
      a_       		=hidden_dropout_prob
      a_       		=attention_probs_dropout_prob
      a_       		=max_position_embeddings
      a_       		=type_vocab_size
      a_       		=initializer_range
      a_       		=layer_norm_eps
      a_       		=classifier_dropout_prob
      a_       		=position_embedding_type







class 	UpperCAmelCase	(		__a):


 '''simple docstring'''




 @property
 def       lowercase_  (   self) ->      Mapping[str, Mapping[int, str]]:



      """simple docstring"""







      if self.task == "multiple-choice":
           a_       		={0: "batch", 1: "choice", 2: "sequence"}
      else:
           a_       		={0: "batch", 1: "sequence"}
      return OrderedDict(
          [
              ("input_ids", dynamic_axis),
              ("attention_mask", dynamic_axis),
              ("token_type_ids", dynamic_axis),
          ])


