

from __future__ import annotations

import time
from math import sqrt

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

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

_SCREAMING_SNAKE_CASE  :						int         =    tuple[int, int]






class  UpperCAmelCase__	:






		"""simple docstring"""


		def __init__(							self		:	Dict			,     __lowerCamelCase		:	int			,     __lowerCamelCase		:	int			,     __lowerCamelCase		:	int			,     __lowerCamelCase		:	int			,     __lowerCamelCase		:	int			,     __lowerCamelCase		:	Node | None			,     )	->							None:
							SCREAMING_SNAKE_CASE__					=					pos_x
							SCREAMING_SNAKE_CASE__					=					pos_y
							SCREAMING_SNAKE_CASE__					=					(pos_y, pos_x)
							SCREAMING_SNAKE_CASE__					=					goal_x
							SCREAMING_SNAKE_CASE__					=					goal_y
							SCREAMING_SNAKE_CASE__					=					g_cost
							SCREAMING_SNAKE_CASE__					=					parent
							SCREAMING_SNAKE_CASE__					=					self.calculate_heuristic()
							SCREAMING_SNAKE_CASE__					=					self.g_cost + self.h_cost






		def    lowercase_	(							self		:	List[str]      )	->							float:
							SCREAMING_SNAKE_CASE__					=					self.pos_x - self.goal_x
							SCREAMING_SNAKE_CASE__					=					self.pos_y - self.goal_y
							if HEURISTIC == 1:
												return abs(lowerCamelCase__      ) + abs(lowerCamelCase__      )
							else:
												return sqrt(dy**2 + dx**2      )







		def __lt__(							self		:	Any			,     __lowerCamelCase		:	Node      )	->							bool:
							return self.f_cost < other.f_cost






class  UpperCAmelCase__	:






		"""simple docstring"""


		def __init__(							self		:	int			,     __lowerCamelCase		:	TPosition			,     __lowerCamelCase		:	TPosition      )	->							List[Any]:
							SCREAMING_SNAKE_CASE__					=					Node(start[1]			,     start[0]			,     goal[1]			,     goal[0]			,     0			,     lowerCamelCase__      )
							SCREAMING_SNAKE_CASE__					=					Node(goal[1]			,     goal[0]			,     goal[1]			,     goal[0]			,     9_9999			,     lowerCamelCase__      )

							SCREAMING_SNAKE_CASE__					=					[self.start]
							SCREAMING_SNAKE_CASE__					=					[]

							SCREAMING_SNAKE_CASE__					=					False






		def    lowercase_	(							self		:	Optional[Any]      )	->							list[TPosition]:







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

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

												self.closed_nodes.append(lowerCamelCase__      )
												SCREAMING_SNAKE_CASE__					=					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
																						SCREAMING_SNAKE_CASE__					=					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		:	List[Any]			,     __lowerCamelCase		:	Node      )	->							list[Node]:
							SCREAMING_SNAKE_CASE__					=					[]
							for action in delta:
												SCREAMING_SNAKE_CASE__					=					parent.pos_x + action[1]
												SCREAMING_SNAKE_CASE__					=					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		:	str			,     __lowerCamelCase		:	Node | None      )	->							list[TPosition]:
							SCREAMING_SNAKE_CASE__					=					node
							SCREAMING_SNAKE_CASE__					=					[]
							while current_node is not None:
												path.append((current_node.pos_y, current_node.pos_x)      )
												SCREAMING_SNAKE_CASE__					=					current_node.parent
							path.reverse()
							return path






class  UpperCAmelCase__	:






		"""simple docstring"""


		def __init__(							self		:	Dict			,     __lowerCamelCase		:	TPosition			,     __lowerCamelCase		:	TPosition      )	->							None:
							SCREAMING_SNAKE_CASE__					=					AStar(lowerCamelCase__			,     lowerCamelCase__      )
							SCREAMING_SNAKE_CASE__					=					AStar(lowerCamelCase__			,     lowerCamelCase__      )
							SCREAMING_SNAKE_CASE__					=					False






		def    lowercase_	(							self		:	Optional[Any]      )	->							list[TPosition]:







							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__					=					self.fwd_astar.open_nodes.pop(0      )
												SCREAMING_SNAKE_CASE__					=					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__      )

												SCREAMING_SNAKE_CASE__					=					current_bwd_node
												SCREAMING_SNAKE_CASE__					=					current_fwd_node

												SCREAMING_SNAKE_CASE__					=					{
												    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
																											SCREAMING_SNAKE_CASE__					=					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[Any]			,     __lowerCamelCase		:	Node			,     __lowerCamelCase		:	Node      )	->							list[TPosition]:
							SCREAMING_SNAKE_CASE__					=					self.fwd_astar.retrace_path(lowerCamelCase__      )
							SCREAMING_SNAKE_CASE__					=					self.bwd_astar.retrace_path(lowerCamelCase__      )
							bwd_path.pop()
							bwd_path.reverse()
							SCREAMING_SNAKE_CASE__					=					fwd_path + bwd_path
							return path


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

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

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





import random
def        UpperCAmelCase_     (		_A   ,	_A   ,	_A       ):





     '''simple docstring'''




     SCREAMING_SNAKE_CASE__					=					a[left_index]
     SCREAMING_SNAKE_CASE__					=					left_index + 1
     for j in range(left_index + 1   ,	_A       ):
          if a[j] < pivot:
               SCREAMING_SNAKE_CASE__,SCREAMING_SNAKE_CASE__					=					a[i], a[j]
               i += 1
     SCREAMING_SNAKE_CASE__,SCREAMING_SNAKE_CASE__					=					a[i - 1], a[left_index]
     return i - 1
def        UpperCAmelCase_     (		_A   ,	_A   ,	_A       ):





     '''simple docstring'''




     if left < right:
          SCREAMING_SNAKE_CASE__					=					random.randint(_A   ,	right - 1       )
          SCREAMING_SNAKE_CASE__,SCREAMING_SNAKE_CASE__					=					(
              a[left],
              a[pivot],
          )  # switches the pivot with the left most bound
          SCREAMING_SNAKE_CASE__					=					partition(_A   ,	_A   ,	_A       )
          quick_sort_random(
              _A   ,	_A   ,	_A       )  # recursive quicksort to the left of the pivot point
          quick_sort_random(
              _A   ,	pivot_index + 1   ,	_A       )  # recursive quicksort to the right of the pivot point
def        UpperCAmelCase_     (		):





     '''simple docstring'''




     SCREAMING_SNAKE_CASE__					=					input('''Enter numbers separated by a comma:\n'''       ).strip()
     SCREAMING_SNAKE_CASE__					=					[int(_A       ) for item in user_input.split(''','''       )]

     quick_sort_random(_A   ,	0   ,	len(_A       )       )

     print(_A       )


if __name__ == "__main__":
       main()


