
'''simple docstring'''
from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
A__   :		List[str] 		=0

A__   :		str 		=[
    [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__   :		List[Any] 		=[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

A__   :		Optional[Any] 		=tuple[int, int]







class  __A				:
 def __init__(   self			:    Optional[int]				,   lowerCamelCase			:    int				,   lowerCamelCase			:    int				,   lowerCamelCase			:    int				,   lowerCamelCase			:    int				,   lowerCamelCase			:    int				,   lowerCamelCase			:    Node | None				,   ):



   """simple docstring"""





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



   """simple docstring"""





   __A		:     int												=		self.pos_x - self.goal_x
   __A		:     str												=		self.pos_y - self.goal_y
   if HEURISTIC == 1:
     return abs(lowerCamelCase       ) + abs(lowerCamelCase       )
   else:
     return sqrt(dy**2 + dx**2       )






 def __lt__(   self			:    Optional[int]				,   lowerCamelCase			:    Node       ):



   """simple docstring"""





   return self.f_cost < other.f_cost







class  __A				:
 def __init__(   self			:    List[Any]				,   lowerCamelCase			:    TPosition				,   lowerCamelCase			:    TPosition       ):



   """simple docstring"""





   __A		:     Tuple												=		Node(start[1]				,   start[0]				,   goal[1]				,   goal[0]				,   0				,   lowerCamelCase       )
   __A		:     Any												=		Node(goal[1]				,   goal[0]				,   goal[1]				,   goal[0]				,   9_99_99				,   lowerCamelCase       )

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

   __A		:     Optional[Any]												=		False
 def 		lowercase_(   self			:    str       ):



   """simple docstring"""





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

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

     self.closed_nodes.append(lowerCamelCase       )
     __A		:     Union[str, Any]												=		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		:     List[Any]												=		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			:    Optional[int]				,   lowerCamelCase			:    Node       ):



   """simple docstring"""





   __A		:     Optional[Any]												=		[]
   for action in delta:
     __A		:     int												=		parent.pos_x + action[1]
     __A		:     str												=		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			:    Union[str, Any]				,   lowerCamelCase			:    Node | None       ):



   """simple docstring"""





   __A		:     Union[str, Any]												=		node
   __A		:     Union[str, Any]												=		[]
   while current_node is not None:
     path.append((current_node.pos_y, current_node.pos_x)       )
     __A		:     List[str]												=		current_node.parent
   path.reverse()
   return path







class  __A				:
 def __init__(   self			:    Optional[Any]				,   lowerCamelCase			:    TPosition				,   lowerCamelCase			:    TPosition       ):



   """simple docstring"""





   __A		:     str												=		AStar(lowerCamelCase				,   lowerCamelCase       )
   __A		:     Union[str, Any]												=		AStar(lowerCamelCase				,   lowerCamelCase       )
   __A		:     Optional[int]												=		False
 def 		lowercase_(   self			:    Tuple       ):



   """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		:     Dict												=		self.fwd_astar.open_nodes.pop(0       )
     __A		:     int												=		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		:     Tuple												=		current_bwd_node
     __A		:     Tuple												=		current_fwd_node

     __A		:     Union[str, Any]												=		{
         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		:     int												=		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			:    List[str]				,   lowerCamelCase			:    Node				,   lowerCamelCase			:    Node       ):



   """simple docstring"""





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


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

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

     A__   :		int 		=time.time()
     A__   :		Optional[Any] 		=BidirectionalAStar(init, goal)
     A__   :		List[str] 		=time.time() - bd_start_time
     print(F"BidirectionalAStar execution time = {bd_end_time:f} seconds")





'''simple docstring'''
A__   :		List[Any] 		=[
    'Audio',
    'Array2D',
    'Array3D',
    'Array4D',
    'Array5D',
    'ClassLabel',
    'Features',
    'Sequence',
    'Value',
    'Image',
    'Translation',
    'TranslationVariableLanguages',
]
from .audio import Audio
from .features import ArrayaD, ArrayaD, ArrayaD, ArrayaD, ClassLabel, Features, Sequence, Value
from .image import Image
from .translation import Translation, TranslationVariableLanguages



