
from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_UpperCAmelCase :			Optional[Any]              =	0

_UpperCAmelCase :			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],
]

_UpperCAmelCase :			Dict              =	[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

_UpperCAmelCase :			str              =	tuple[int, int]


class     lowercase :



		def __init__(			self    ,				A_    ,				A_    ,				A_    ,				A_    ,				A_    ,				A_    ,				)  -> None:
				"""simple docstring"""
				UpperCamelCase          =					pos_x
				UpperCamelCase          =					pos_y
				UpperCamelCase          =					(pos_y, pos_x)
				UpperCamelCase          =					goal_x
				UpperCamelCase          =					goal_y
				UpperCamelCase          =					g_cost
				UpperCamelCase          =					parent
				UpperCamelCase          =					self.calculate_heuristic()
				UpperCamelCase          =					self.g_cost + self.h_cost



		def __UpperCamelCase			(			self	)  -> float:
				"""simple docstring"""
				UpperCamelCase          =					self.pos_x - self.goal_x
				UpperCamelCase          =					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     lowercase :



		def __init__(			self    ,				A_    ,				A_	)  -> Tuple:
				"""simple docstring"""
				UpperCamelCase          =					Node(start[1]    ,				start[0]    ,				goal[1]    ,				goal[0]    ,				0    ,				A_	)
				UpperCamelCase          =					Node(goal[1]    ,				goal[0]    ,				goal[1]    ,				goal[0]    ,				99_999    ,				A_	)

				UpperCamelCase          =					[self.start]
				UpperCamelCase          =					[]

				UpperCamelCase          =					False



		def __UpperCamelCase			(			self	)  -> list[TPosition]:
				"""simple docstring"""
				while self.open_nodes:
						# Open Nodes are sorted using __lt__
						self.open_nodes.sort()
						UpperCamelCase          =					self.open_nodes.pop(0	)

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

						self.closed_nodes.append(A_	)
						UpperCamelCase          =					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
										UpperCamelCase          =					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 __UpperCamelCase			(			self    ,				A_	)  -> list[Node]:
				"""simple docstring"""
				UpperCamelCase          =					[]
				for action in delta:
						UpperCamelCase          =					parent.pos_x + action[1]
						UpperCamelCase          =					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 __UpperCamelCase			(			self    ,				A_	)  -> list[TPosition]:
				"""simple docstring"""
				UpperCamelCase          =					node
				UpperCamelCase          =					[]
				while current_node is not None:
						path.append((current_node.pos_y, current_node.pos_x)	)
						UpperCamelCase          =					current_node.parent
				path.reverse()
				return path






class     lowercase :



		def __init__(			self    ,				A_    ,				A_	)  -> None:
				"""simple docstring"""
				UpperCamelCase          =					AStar(A_    ,				A_	)
				UpperCamelCase          =					AStar(A_    ,				A_	)
				UpperCamelCase          =					False



		def __UpperCamelCase			(			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()
						UpperCamelCase          =					self.fwd_astar.open_nodes.pop(0	)
						UpperCamelCase          =					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_	)

						UpperCamelCase          =					current_bwd_node
						UpperCamelCase          =					current_fwd_node

						UpperCamelCase          =					{
						    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
												UpperCamelCase          =					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 __UpperCamelCase			(			self    ,				A_    ,				A_	)  -> list[TPosition]:
				"""simple docstring"""
				UpperCamelCase          =					self.fwd_astar.retrace_path(A_	)
				UpperCamelCase          =					self.bwd_astar.retrace_path(A_	)
				bwd_path.pop()
				bwd_path.reverse()
				UpperCamelCase          =					fwd_path + bwd_path
				return path


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

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

					_UpperCAmelCase :			Tuple              =	time.time()
					_UpperCAmelCase :			int              =	BidirectionalAStar(init, goal)
					_UpperCAmelCase :			List[Any]              =	time.time() - bd_start_time
					print(F'''BidirectionalAStar execution time = {bd_end_time:f} seconds''')


from __future__ import annotations


class     lowercase :



		def __init__(			self    ,				A_    ,				A_	)  -> Any:
				"""simple docstring"""
				UpperCamelCase     ,  UpperCamelCase          =					text, pattern
				UpperCamelCase     ,  UpperCamelCase          =					len(A_	), len(A_	)



		def __UpperCamelCase			(			self    ,				A_	)  -> int:
				"""simple docstring"""

				for i in range(self.patLen - 1    ,				-1    ,				-1	):
						if char == self.pattern[i]:
								return i
				return -1



		def __UpperCamelCase			(			self    ,				A_	)  -> int:
				"""simple docstring"""

				for i in range(self.patLen - 1    ,				-1    ,				-1	):
						if self.pattern[i] != self.text[current_pos + i]:
								return current_pos + i
				return -1



		def __UpperCamelCase			(			self	)  -> list[int]:
				"""simple docstring"""
				# searches pattern in text and returns index positions
				UpperCamelCase          =					[]
				for i in range(self.textLen - self.patLen + 1	):
						UpperCamelCase          =					self.mismatch_in_text(A_	)
						if mismatch_index == -1:
								positions.append(A_	)
						else:
								UpperCamelCase          =					self.match_in_pattern(self.text[mismatch_index]	)
								UpperCamelCase          =					(
								    mismatch_index - match_index
								)  # shifting index lgtm [py/multiple-definition]
				return positions






_UpperCAmelCase :			Union[str, Any]              =	"ABAABA"
_UpperCAmelCase :			Any              =	"AB"
_UpperCAmelCase :			Dict              =	BoyerMooreSearch(text, pattern)
_UpperCAmelCase :			Optional[int]              =	bms.bad_character_heuristic()

if len(positions) == 0:
					print("No match found")
else:
					print("Pattern found in following positions: ")
					print(positions)
