



'''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_) ->      Optional[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 typing import TYPE_CHECKING

from ...utils import (
    OptionalDependencyNotAvailable,
    _LazyModule,
    is_flax_available,
    is_tf_available,
    is_torch_available,
)


lowercase							       =			{
    '''configuration_vision_encoder_decoder''': ['''VisionEncoderDecoderConfig''', '''VisionEncoderDecoderOnnxConfig''']
}

try:
  if not is_torch_available():
    raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
  pass
else:
  lowercase							       =			['''VisionEncoderDecoderModel''']

try:
  if not is_tf_available():
    raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
  pass
else:
  lowercase							       =			['''TFVisionEncoderDecoderModel''']

try:
  if not is_flax_available():
    raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
  pass
else:
  lowercase							       =			['''FlaxVisionEncoderDecoderModel''']

if TYPE_CHECKING:
  from .configuration_vision_encoder_decoder import VisionEncoderDecoderConfig, VisionEncoderDecoderOnnxConfig

  try:
    if not is_torch_available():
      raise OptionalDependencyNotAvailable()
  except OptionalDependencyNotAvailable:
    pass
  else:
    from .modeling_vision_encoder_decoder import VisionEncoderDecoderModel

  try:
    if not is_tf_available():
      raise OptionalDependencyNotAvailable()
  except OptionalDependencyNotAvailable:
    pass
  else:
    from .modeling_tf_vision_encoder_decoder import TFVisionEncoderDecoderModel

  try:
    if not is_flax_available():
      raise OptionalDependencyNotAvailable()
  except OptionalDependencyNotAvailable:
    pass
  else:
    from .modeling_flax_vision_encoder_decoder import FlaxVisionEncoderDecoderModel

else:
  import sys

  lowercase							       =			_LazyModule(__name__, globals()['''__file__'''], _import_structure, module_spec=__spec__)


