





'''simple docstring'''



from math import cos, sin, sqrt, tau

from audio_filters.iir_filter import IIRFilter




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float = 1 / sqrt(2				)				):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)

			__lowercase										=							(1 - _cos) / 2
			__lowercase										=							1 - _cos

			__lowercase										=							1 + alpha
			__lowercase										=							-2 * _cos
			__lowercase										=							1 - alpha

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float = 1 / sqrt(2				)				):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)

			__lowercase										=							(1 + _cos) / 2
			__lowercase										=							-1 - _cos

			__lowercase										=							1 + alpha
			__lowercase										=							-2 * _cos
			__lowercase										=							1 - alpha

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float = 1 / sqrt(2				)				):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)

			__lowercase										=							_sin / 2
			__lowercase										=							0
			__lowercase										=							-ba

			__lowercase										=							1 + alpha
			__lowercase										=							-2 * _cos
			__lowercase										=							1 - alpha

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float = 1 / sqrt(2				)				):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)

			__lowercase										=							1 - alpha
			__lowercase										=							-2 * _cos
			__lowercase										=							1 + alpha

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([ba, ba, ba]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float		,       lowerCamelCase_			:  float = 1 / sqrt(2				)		,       ):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)
			__lowercase										=							1_0 ** (gain_db / 4_0)

			__lowercase										=							1 + alpha * big_a
			__lowercase										=							-2 * _cos
			__lowercase										=							1 - alpha * big_a
			__lowercase										=							1 + alpha / big_a
			__lowercase										=							-2 * _cos
			__lowercase										=							1 - alpha / big_a

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float		,       lowerCamelCase_			:  float = 1 / sqrt(2				)		,       ):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)
			__lowercase										=							1_0 ** (gain_db / 4_0)
			__lowercase										=							(big_a + 1) - (big_a - 1) * _cos
			__lowercase										=							(big_a + 1) + (big_a - 1) * _cos
			__lowercase										=							(big_a - 1) - (big_a + 1) * _cos
			__lowercase										=							(big_a - 1) + (big_a + 1) * _cos
			__lowercase										=							2 * sqrt(lowerCamelCase_				) * alpha

			__lowercase										=							big_a * (pmc + aaa)
			__lowercase										=							2 * big_a * mpc
			__lowercase										=							big_a * (pmc - aaa)
			__lowercase										=							ppmc + aaa
			__lowercase										=							-2 * pmpc
			__lowercase										=							ppmc - aaa

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt




def    _lowerCAmelCase						(				lowerCamelCase_			:  int		,       lowerCamelCase_			:  int		,       lowerCamelCase_			:  float		,       lowerCamelCase_			:  float = 1 / sqrt(2				)		,       ):
			__lowercase										=							tau * frequency / samplerate
			__lowercase										=							sin(lowerCamelCase_				)
			__lowercase										=							cos(lowerCamelCase_				)
			__lowercase										=							_sin / (2 * q_factor)
			__lowercase										=							1_0 ** (gain_db / 4_0)
			__lowercase										=							(big_a + 1) - (big_a - 1) * _cos
			__lowercase										=							(big_a + 1) + (big_a - 1) * _cos
			__lowercase										=							(big_a - 1) - (big_a + 1) * _cos
			__lowercase										=							(big_a - 1) + (big_a + 1) * _cos
			__lowercase										=							2 * sqrt(lowerCamelCase_				) * alpha

			__lowercase										=							big_a * (ppmc + aaa)
			__lowercase										=							-2 * big_a * pmpc
			__lowercase										=							big_a * (ppmc - aaa)
			__lowercase										=							pmc + aaa
			__lowercase										=							2 * mpc
			__lowercase										=							pmc - aaa

			__lowercase										=							IIRFilter(2				)
			filt.set_coefficients([aa, aa, aa]		,       [ba, ba, ba]				)
			return filt












'''simple docstring'''



from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_SCREAMING_SNAKE_CASE					=    0

_SCREAMING_SNAKE_CASE					=    [
    [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],
]

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

_SCREAMING_SNAKE_CASE					=    tuple[int, int]






class 							__lowercase       :







	'''simple docstring'''

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







				'''simple docstring'''





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


	def 						_UpperCAmelCase     (self )							->							float:







				'''simple docstring'''





				__lowercase										=							self.pos_x - self.goal_x
				__lowercase										=							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 							__lowercase       :







	'''simple docstring'''

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







				'''simple docstring'''





				__lowercase										=							Node(start[1]     ,start[0]     ,goal[1]     ,goal[0]     ,0     ,_lowerCamelCase )
				__lowercase										=							Node(goal[1]     ,goal[0]     ,goal[1]     ,goal[0]     ,99999     ,_lowerCamelCase )

				__lowercase										=							[self.start]
				__lowercase										=							[]

				__lowercase										=							False


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







				'''simple docstring'''





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

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

							self.closed_nodes.append(_lowerCamelCase )
							__lowercase										=							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
													__lowercase										=							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 						_UpperCAmelCase     (self     ,_lowerCamelCase )							->							list[Node]:







				'''simple docstring'''





				__lowercase										=							[]
				for action in delta:
							__lowercase										=							parent.pos_x + action[1]
							__lowercase										=							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 						_UpperCAmelCase     (self     ,_lowerCamelCase )							->							list[TPosition]:







				'''simple docstring'''





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






class 							__lowercase       :







	'''simple docstring'''

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







				'''simple docstring'''





				__lowercase										=							AStar(_lowerCamelCase     ,_lowerCamelCase )
				__lowercase										=							AStar(_lowerCamelCase     ,_lowerCamelCase )
				__lowercase										=							False


	def 						_UpperCAmelCase     (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()
							__lowercase										=							self.fwd_astar.open_nodes.pop(0 )
							__lowercase										=							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 )

							__lowercase										=							current_bwd_node
							__lowercase										=							current_fwd_node

							__lowercase										=							{
							    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
																__lowercase										=							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 						_UpperCAmelCase     (self     ,_lowerCamelCase     ,_lowerCamelCase )							->							list[TPosition]:







				'''simple docstring'''





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


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

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

	_SCREAMING_SNAKE_CASE					=    time.time()
	_SCREAMING_SNAKE_CASE					=    BidirectionalAStar(init, goal)
	_SCREAMING_SNAKE_CASE					=    time.time() - bd_start_time
	print(f'''BidirectionalAStar execution time = {bd_end_time:f} seconds''')





