






from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
__magic_name__:					Tuple							=     0

__magic_name__:					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],
]

__magic_name__:					int							=     [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

__magic_name__:					Optional[int]							=     tuple[int, int]





class 	snake_case__ :
	def __init__(    self      ,       lowerCAmelCase__      ,       lowerCAmelCase__      ,       lowerCAmelCase__      ,       lowerCAmelCase__      ,       lowerCAmelCase__      ,       lowerCAmelCase__      ,       )							->				None:
							__magic_name__      :       str       						= pos_x
							__magic_name__      :       Dict       						= pos_y
							__magic_name__      :       Optional[int]       						= (pos_y, pos_x)
							__magic_name__      :       Optional[int]       						= goal_x
							__magic_name__      :       Optional[int]       						= goal_y
							__magic_name__      :       Tuple       						= g_cost
							__magic_name__      :       Any       						= parent
							__magic_name__      :       Dict       						= self.calculate_heuristic()
							__magic_name__      :       Any       						= self.g_cost + self.h_cost
	def       __magic_name__    (    self			)							->				float:
							__magic_name__      :       str       						= self.pos_x - self.goal_x
							__magic_name__      :       int       						= 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:
							return self.f_cost < other.f_cost





class 	snake_case__ :
	def __init__(    self      ,       lowerCAmelCase__      ,       lowerCAmelCase__			)							->				Tuple:
							__magic_name__      :       Optional[int]       						= Node(start[1]      ,       start[0]      ,       goal[1]      ,       goal[0]      ,       0      ,       lowerCAmelCase__			)
							__magic_name__      :       Optional[Any]       						= Node(goal[1]      ,       goal[0]      ,       goal[1]      ,       goal[0]      ,       9_99_99      ,       lowerCAmelCase__			)

							__magic_name__      :       Optional[int]       						= [self.start]
							__magic_name__      :       list[Node]       						= []

							__magic_name__      :       Tuple       						= False
	def       __magic_name__    (    self			)							->				list[TPosition]:
							while self.open_nodes:
													# Open Nodes are sorted using __lt__
													self.open_nodes.sort()
													__magic_name__      :       Tuple       						= self.open_nodes.pop(0			)

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

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





class 	snake_case__ :
	def __init__(    self      ,       lowerCAmelCase__      ,       lowerCAmelCase__			)							->				None:
							__magic_name__      :       str       						= AStar(lowerCAmelCase__      ,       lowerCAmelCase__			)
							__magic_name__      :       List[str]       						= AStar(lowerCAmelCase__      ,       lowerCAmelCase__			)
							__magic_name__      :       List[str]       						= False
	def       __magic_name__    (    self			)							->				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()
													__magic_name__      :       Optional[Any]       						= self.fwd_astar.open_nodes.pop(0			)
													__magic_name__      :       List[Any]       						= 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__			)

													__magic_name__      :       Any       						= current_bwd_node
													__magic_name__      :       str       						= current_fwd_node

													__magic_name__      :       str       						= {
													    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
																															__magic_name__      :       List[str]       						= 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       __magic_name__    (    self      ,       lowerCAmelCase__      ,       lowerCAmelCase__			)							->				list[TPosition]:
							__magic_name__      :       int       						= self.fwd_astar.retrace_path(lowerCAmelCase__			)
							__magic_name__      :       Optional[Any]       						= self.bwd_astar.retrace_path(lowerCAmelCase__			)
							bwd_path.pop()
							bwd_path.reverse()
							__magic_name__      :       int       						= fwd_path + bwd_path
							return path


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

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

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














def    UpperCamelCase						(	_A = 1,   _A = 1000			):






						"""simple docstring"""







						__magic_name__      :       Optional[int]       						= 1
						__magic_name__      :       Dict       						= 0

						for divide_by_number in range(_A,   digit + 1			):
												__magic_name__      :       list[int]       						= []
												__magic_name__      :       Any       						= numerator
												for _ in range(1,   digit + 1			):
																		if now_divide in has_been_divided:
																								if longest_list_length < len(_A			):
																														__magic_name__      :       int       						= len(_A			)
																														__magic_name__      :       Dict       						= divide_by_number
																		else:
																								has_been_divided.append(_A			)
																								__magic_name__      :       Optional[int]       						= now_divide * 10 % divide_by_number

						return the_digit


# Tests
if __name__ == "__main__":
		import doctest

		doctest.testmod()
