

"""simple docstring"""
import numpy as np
import skfuzzy as fuzz

if __name__ == "__main__":
			# Create universe of discourse in Python using linspace ()
			lowerCamelCase_       			=   np.linspace(start=0, stop=75, num=75, endpoint=True, retstep=False)

			# Create two fuzzy sets by defining any membership function
			# (trapmf(), gbellmf(), gaussmf(), etc).
			lowerCamelCase_       			=   [0, 25, 50]
			lowerCamelCase_       			=   [25, 50, 75]
			lowerCamelCase_       			=   fuzz.membership.trimf(X, abca)
			lowerCamelCase_       			=   fuzz.membership.trimf(X, abca)

			# Compute the different operations using inbuilt functions.
			lowerCamelCase_       			=   np.ones(75)
			lowerCamelCase_       			=   np.zeros((75,))
			# 1. Union = max(µA(x), µB(x))
			lowerCamelCase_       			=   fuzz.fuzzy_or(X, young, X, middle_aged)[1]
			# 2. Intersection = min(µA(x), µB(x))
			lowerCamelCase_       			=   fuzz.fuzzy_and(X, young, X, middle_aged)[1]
			# 3. Complement (A) = (1- min(µA(x))
			lowerCamelCase_       			=   fuzz.fuzzy_not(young)
			# 4. Difference (A/B) = min(µA(x),(1- µB(x)))
			lowerCamelCase_       			=   fuzz.fuzzy_and(X, young, X, fuzz.fuzzy_not(middle_aged)[1])[1]
			# 5. Algebraic Sum = [µA(x) + µB(x) – (µA(x) * µB(x))]
			lowerCamelCase_       			=   young + middle_aged - (young * middle_aged)
			# 6. Algebraic Product = (µA(x) * µB(x))
			lowerCamelCase_       			=   young * middle_aged
			# 7. Bounded Sum = min[1,(µA(x), µB(x))]
			lowerCamelCase_       			=   fuzz.fuzzy_and(X, one, X, young + middle_aged)[1]
			# 8. Bounded difference = min[0,(µA(x), µB(x))]
			lowerCamelCase_       			=   fuzz.fuzzy_or(X, zero, X, young - middle_aged)[1]

			# max-min composition
			# max-product composition

			# Plot each set A, set B and each operation result using plot() and subplot().
			from matplotlib import pyplot as plt

			plt.figure()

			plt.subplot(4, 3, 1)
			plt.plot(X, young)
			plt.title('''Young''')
			plt.grid(True)

			plt.subplot(4, 3, 2)
			plt.plot(X, middle_aged)
			plt.title('''Middle aged''')
			plt.grid(True)

			plt.subplot(4, 3, 3)
			plt.plot(X, union)
			plt.title('''union''')
			plt.grid(True)

			plt.subplot(4, 3, 4)
			plt.plot(X, intersection)
			plt.title('''intersection''')
			plt.grid(True)

			plt.subplot(4, 3, 5)
			plt.plot(X, complement_a)
			plt.title('''complement_a''')
			plt.grid(True)

			plt.subplot(4, 3, 6)
			plt.plot(X, difference)
			plt.title('''difference a/b''')
			plt.grid(True)

			plt.subplot(4, 3, 7)
			plt.plot(X, alg_sum)
			plt.title('''alg_sum''')
			plt.grid(True)

			plt.subplot(4, 3, 8)
			plt.plot(X, alg_product)
			plt.title('''alg_product''')
			plt.grid(True)

			plt.subplot(4, 3, 9)
			plt.plot(X, bdd_sum)
			plt.title('''bdd_sum''')
			plt.grid(True)

			plt.subplot(4, 3, 10)
			plt.plot(X, bdd_difference)
			plt.title('''bdd_difference''')
			plt.grid(True)

			plt.subplots_adjust(hspace=0.5)
			plt.show()











"""simple docstring"""
from __future__ import annotations

import time

lowerCamelCase_       			=   list[tuple[int, int]]

lowerCamelCase_       			=   [
    [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],
]

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







class     UpperCamelCase_ :





	def __init__(   self      :				int			,			lowerCAmelCase_      :				int			,			lowerCAmelCase_      :				int			,			lowerCAmelCase_      :				int			,			lowerCAmelCase_      :				int			,			lowerCAmelCase_      :				Node | None		)		->    List[str]:
				UpperCAmelCase_  :				List[Any]      =      pos_x
				UpperCAmelCase_  :				Dict      =      pos_y
				UpperCAmelCase_  :				List[Any]      =      (pos_y, pos_x)
				UpperCAmelCase_  :				int      =      goal_x
				UpperCAmelCase_  :				int      =      goal_y
				UpperCAmelCase_  :				Union[str, Any]      =      parent







class     UpperCamelCase_ :





	def __init__(   self      :				Dict			,			lowerCAmelCase_      :				tuple[int, int]			,			lowerCAmelCase_      :				tuple[int, int]		)		->    int:
				UpperCAmelCase_  :				Dict      =      Node(start[1]			,			start[0]			,			goal[1]			,			goal[0]			,			lowerCAmelCase_		)
				UpperCAmelCase_  :				List[str]      =      Node(goal[1]			,			goal[0]			,			goal[1]			,			goal[0]			,			lowerCAmelCase_		)

				UpperCAmelCase_  :				List[str]      =      [self.start]
				UpperCAmelCase_  :				List[Any]      =      False





	def   _SCREAMING_SNAKE_CASE   (   self      :				int		)		->    Path | None:
				while self.node_queue:
							UpperCAmelCase_  :				Optional[int]      =      self.node_queue.pop(0		)

							if current_node.pos == self.target.pos:
										UpperCAmelCase_  :				int      =      True
										return self.retrace_path(lowerCAmelCase_		)

							UpperCAmelCase_  :				Union[str, Any]      =      self.get_successors(lowerCAmelCase_		)

							for node in successors:
										self.node_queue.append(lowerCAmelCase_		)

				if not self.reached:
							return [self.start.pos]
				return None





	def   _SCREAMING_SNAKE_CASE   (   self      :				Tuple			,			lowerCAmelCase_      :				Node		)		->    list[Node]:
				UpperCAmelCase_  :				Union[str, Any]      =      []
				for action in delta:
							UpperCAmelCase_  :				Optional[Any]      =      parent.pos_x + action[1]
							UpperCAmelCase_  :				Tuple      =      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			,			lowerCAmelCase_		)		)
				return successors





	def   _SCREAMING_SNAKE_CASE   (   self      :				Union[str, Any]			,			lowerCAmelCase_      :				Node | None		)		->    Path:
				UpperCAmelCase_  :				Any      =      node
				UpperCAmelCase_  :				Any      =      []
				while current_node is not None:
							path.append((current_node.pos_y, current_node.pos_x)		)
							UpperCAmelCase_  :				int      =      current_node.parent
				path.reverse()
				return path







class     UpperCamelCase_ :





	def __init__(   self      :				str			,			lowerCAmelCase_      :				int			,			lowerCAmelCase_      :				Tuple		)		->    Tuple:
				UpperCAmelCase_  :				Union[str, Any]      =      BreadthFirstSearch(lowerCAmelCase_			,			lowerCAmelCase_		)
				UpperCAmelCase_  :				Any      =      BreadthFirstSearch(lowerCAmelCase_			,			lowerCAmelCase_		)
				UpperCAmelCase_  :				Any      =      False





	def   _SCREAMING_SNAKE_CASE   (   self      :				List[Any]		)		->    Path | None:
				while self.fwd_bfs.node_queue or self.bwd_bfs.node_queue:
							UpperCAmelCase_  :				List[Any]      =      self.fwd_bfs.node_queue.pop(0		)
							UpperCAmelCase_  :				Tuple      =      self.bwd_bfs.node_queue.pop(0		)

							if current_bwd_node.pos == current_fwd_node.pos:
										UpperCAmelCase_  :				Optional[int]      =      True
										return self.retrace_bidirectional_path(
										    lowerCAmelCase_			,			lowerCAmelCase_		)

							UpperCAmelCase_  :				Any      =      current_bwd_node
							UpperCAmelCase_  :				Optional[int]      =      current_fwd_node

							UpperCAmelCase_  :				Any      =      {
							    self.fwd_bfs: self.fwd_bfs.get_successors(lowerCAmelCase_		),
							    self.bwd_bfs: self.bwd_bfs.get_successors(lowerCAmelCase_		),
							}

							for bfs in [self.fwd_bfs, self.bwd_bfs]:
										for node in successors[bfs]:
													bfs.node_queue.append(lowerCAmelCase_		)

				if not self.reached:
							return [self.fwd_bfs.start.pos]
				return None





	def   _SCREAMING_SNAKE_CASE   (   self      :				int			,			lowerCAmelCase_      :				Node			,			lowerCAmelCase_      :				Node		)		->    Path:
				UpperCAmelCase_  :				Tuple      =      self.fwd_bfs.retrace_path(lowerCAmelCase_		)
				UpperCAmelCase_  :				str      =      self.bwd_bfs.retrace_path(lowerCAmelCase_		)
				bwd_path.pop()
				bwd_path.reverse()
				UpperCAmelCase_  :				int      =      fwd_path + bwd_path
				return path


if __name__ == "__main__":
			# all coordinates are given in format [y,x]
			import doctest

			doctest.testmod()
			lowerCamelCase_       			=   (0, 0)
			lowerCamelCase_       			=   (len(grid) - 1, len(grid[0]) - 1)
			for elem in grid:
						print(elem)

			lowerCamelCase_       			=   time.time()
			lowerCamelCase_       			=   BreadthFirstSearch(init, goal)
			lowerCamelCase_       			=   bfs.search()
			lowerCamelCase_       			=   time.time() - start_bfs_time

			print('''Unidirectional BFS computation time : ''', bfs_time)

			lowerCamelCase_       			=   time.time()
			lowerCamelCase_       			=   BidirectionalBreadthFirstSearch(init, goal)
			lowerCamelCase_       			=   bd_bfs.search()
			lowerCamelCase_       			=   time.time() - start_bd_bfs_time

			print('''Bidirectional BFS computation time : ''', bd_bfs_time)



