


"""simple docstring"""


from __future__ import annotations

import time
from math import sqrt

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

a					:Any    = [
    [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					:Optional[int]    = [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

a					:int    = tuple[int, int]

class      __a							:






     '''simple docstring'''

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


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      Dict      		=	pos_x
           SCREAMING_SNAKE_CASE__   :      int      		=	pos_y
           SCREAMING_SNAKE_CASE__   :      Any      		=	(pos_y, pos_x)
           SCREAMING_SNAKE_CASE__   :      List[Any]      		=	goal_x
           SCREAMING_SNAKE_CASE__   :      int      		=	goal_y
           SCREAMING_SNAKE_CASE__   :      str      		=	g_cost
           SCREAMING_SNAKE_CASE__   :      Optional[int]      		=	parent
           SCREAMING_SNAKE_CASE__   :      Dict      		=	self.calculate_heuristic()
           SCREAMING_SNAKE_CASE__   :      Optional[int]      		=	self.g_cost + self.h_cost

     def 					_a			(						self  )  ->      float:


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      List[Any]      		=	self.pos_x - self.goal_x
           SCREAMING_SNAKE_CASE__   :      Union[str, Any]      		=	self.pos_y - self.goal_y
           if HEURISTIC == 1:
                 return abs(_a  ) + abs(_a  )
           else:
                 return sqrt(dy**2 + dx**2  )





     def __lt__(						self	,    _a  )  ->      bool:


           """simple docstring"""


           return self.f_cost < other.f_cost





class      __a							:






     '''simple docstring'''

     def __init__(						self	,    _a	,    _a  )  ->      Dict:


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      List[Any]      		=	Node(start[1]	,    start[0]	,    goal[1]	,    goal[0]	,    0	,    _a  )
           SCREAMING_SNAKE_CASE__   :      str      		=	Node(goal[1]	,    goal[0]	,    goal[1]	,    goal[0]	,    99_999	,    _a  )

           SCREAMING_SNAKE_CASE__   :      List[str]      		=	[self.start]
           SCREAMING_SNAKE_CASE__   :      list[Node]      		=	[]

           SCREAMING_SNAKE_CASE__   :      Any      		=	False

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


           """simple docstring"""


           while self.open_nodes:
                 # Open Nodes are sorted using __lt__
                 self.open_nodes.sort()
                 SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	self.open_nodes.pop(0  )

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

                 self.closed_nodes.append(_a  )
                 SCREAMING_SNAKE_CASE__   :      Dict      		=	self.get_successors(_a  )

                 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(_a  )
                       else:
                             # retrieve the best current path
                             SCREAMING_SNAKE_CASE__   :      List[Any]      		=	self.open_nodes.pop(self.open_nodes.index(_a  )  )

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

           return [self.start.pos]

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


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      List[str]      		=	[]
           for action in delta:
                 SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	parent.pos_x + action[1]
                 SCREAMING_SNAKE_CASE__   :      str      		=	parent.pos_y + action[0]
                 if not (0 <= pos_x <= len(grid[0]  ) - 1 and 0 <= pos_y <= len(_a  ) - 1):
                       continue

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

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





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


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	node
           SCREAMING_SNAKE_CASE__   :      Tuple      		=	[]
           while current_node is not None:
                 path.append((current_node.pos_y, current_node.pos_x)  )
                 SCREAMING_SNAKE_CASE__   :      List[Any]      		=	current_node.parent
           path.reverse()
           return path





class      __a							:






     '''simple docstring'''

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


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      List[str]      		=	AStar(_a	,    _a  )
           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	AStar(_a	,    _a  )
           SCREAMING_SNAKE_CASE__   :      List[str]      		=	False

     def 					_a			(						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()
                 SCREAMING_SNAKE_CASE__   :      Any      		=	self.fwd_astar.open_nodes.pop(0  )
                 SCREAMING_SNAKE_CASE__   :      Union[str, Any]      		=	self.bwd_astar.open_nodes.pop(0  )

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

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

                 SCREAMING_SNAKE_CASE__   :      Union[str, Any]      		=	current_bwd_node
                 SCREAMING_SNAKE_CASE__   :      Tuple      		=	current_fwd_node

                 SCREAMING_SNAKE_CASE__   :      Tuple      		=	{
                     self.fwd_astar: self.fwd_astar.get_successors(_a  ),
                     self.bwd_astar: self.bwd_astar.get_successors(_a  ),
                 }

                 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(_a  )
                             else:
                                   # retrieve the best current path
                                   SCREAMING_SNAKE_CASE__   :      List[str]      		=	astar.open_nodes.pop(
                                       astar.open_nodes.index(_a  )  )

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

           return [self.fwd_astar.start.pos]





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


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	self.fwd_astar.retrace_path(_a  )
           SCREAMING_SNAKE_CASE__   :      str      		=	self.bwd_astar.retrace_path(_a  )
           bwd_path.pop()
           bwd_path.reverse()
           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	fwd_path + bwd_path
           return path


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

  a					:str    = time.time()
  a					:Any    = AStar(init, goal)
  a					:Optional[Any]    = a_star.search()
  a					:Union[str, Any]    = time.time() - start_time
  print(f'AStar execution time = {end_time:f} seconds')

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







"""simple docstring"""


import os
from shutil import copyfile
from typing import List, Optional, Tuple

from ...tokenization_utils import AddedToken
from ...tokenization_utils_fast import PreTrainedTokenizerFast
from ...utils import is_sentencepiece_available, logging


if is_sentencepiece_available():
  from .tokenization_xlnet import XLNetTokenizer
else:
  a					:List[Any]    = None


a					:Optional[int]    = logging.get_logger(__name__)

a					:Union[str, Any]    = {"vocab_file": "spiece.model", "tokenizer_file": "tokenizer.json"}

a					:Optional[int]    = {
    "vocab_file": {
        "xlnet-base-cased": "https://huggingface.co/xlnet-base-cased/resolve/main/spiece.model",
        "xlnet-large-cased": "https://huggingface.co/xlnet-large-cased/resolve/main/spiece.model",
    },
    "tokenizer_file": {
        "xlnet-base-cased": "https://huggingface.co/xlnet-base-cased/resolve/main/tokenizer.json",
        "xlnet-large-cased": "https://huggingface.co/xlnet-large-cased/resolve/main/tokenizer.json",
    },
}

a					:Dict    = {
    "xlnet-base-cased": None,
    "xlnet-large-cased": None,
}

a					:int    = "▁"

# Segments (not really needed)
a					:Dict    = 0
a					:Optional[int]    = 1
a					:Tuple    = 2
a					:List[str]    = 3
a					:Optional[Any]    = 4

class      __a							(UpperCamelCase_):






     '''simple docstring'''
     _SCREAMING_SNAKE_CASE						:Tuple       = VOCAB_FILES_NAMES
     _SCREAMING_SNAKE_CASE						:Union[str, Any]       = PRETRAINED_VOCAB_FILES_MAP
     _SCREAMING_SNAKE_CASE						:Tuple       = PRETRAINED_POSITIONAL_EMBEDDINGS_SIZES
     _SCREAMING_SNAKE_CASE						:str       = """left"""
     _SCREAMING_SNAKE_CASE						:Optional[Any]       = XLNetTokenizer

     def __init__(						self	,    _a=None	,    _a=None	,    _a=False	,    _a=True	,    _a=False	,    _a="<s>"	,    _a="</s>"	,    _a="<unk>"	,    _a="<sep>"	,    _a="<pad>"	,    _a="<cls>"	,    _a="<mask>"	,    _a=["<eop>", "<eod>"]	,    **_a	,    )  ->      Any:


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      Tuple      		=	AddedToken(_a	,    lstrip=_a	,    rstrip=_a  ) if isinstance(_a	,    _a  ) else mask_token

           super().__init__(
               vocab_file=_a	,    tokenizer_file=_a	,    do_lower_case=_a	,    remove_space=_a	,    keep_accents=_a	,    bos_token=_a	,    eos_token=_a	,    unk_token=_a	,    sep_token=_a	,    pad_token=_a	,    cls_token=_a	,    mask_token=_a	,    additional_special_tokens=_a	,    **_a	,    )

           SCREAMING_SNAKE_CASE__   :      Union[str, Any]      		=	3
           SCREAMING_SNAKE_CASE__   :      Optional[int]      		=	do_lower_case
           SCREAMING_SNAKE_CASE__   :      List[str]      		=	remove_space
           SCREAMING_SNAKE_CASE__   :      int      		=	keep_accents
           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	vocab_file
           SCREAMING_SNAKE_CASE__   :      Tuple      		=	False if not self.vocab_file else True

     def 					_a			(						self	,    _a	,    _a = None  )  ->      List[int]:


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      str      		=	[self.sep_token_id]
           SCREAMING_SNAKE_CASE__   :      Tuple      		=	[self.cls_token_id]
           if token_ids_a is None:
                 return token_ids_a + sep + cls
           return token_ids_a + sep + token_ids_a + sep + cls

     def 					_a			(						self	,    _a	,    _a = None  )  ->      List[int]:


           """simple docstring"""


           SCREAMING_SNAKE_CASE__   :      Any      		=	[self.sep_token_id]
           SCREAMING_SNAKE_CASE__   :      Optional[Any]      		=	[2]

           if token_ids_a is None:
                 return len(token_ids_a + sep  ) * [0] + cls_segment_id
           return len(token_ids_a + sep  ) * [0] + len(token_ids_a + sep  ) * [1] + cls_segment_id





     def 					_a			(						self	,    _a	,    _a = None  )  ->      Tuple[str]:


           """simple docstring"""


           if not self.can_save_slow_tokenizer:
                 raise ValueError(
                     """Your fast tokenizer does not have the necessary information to save the vocabulary for a slow """
                     """tokenizer."""  )

           if not os.path.isdir(_a  ):
                 logger.error(f'''Vocabulary path ({save_directory}) should be a directory'''  )
                 return
           SCREAMING_SNAKE_CASE__   :      Tuple      		=	os.path.join(
               _a	,    (filename_prefix + """-""" if filename_prefix else """""") + VOCAB_FILES_NAMES["""vocab_file"""]  )

           if os.path.abspath(self.vocab_file  ) != os.path.abspath(_a  ):
                 copyfile(self.vocab_file	,    _a  )

           return (out_vocab_file,)




