from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
__lowercase										= 0

__lowercase										= [
    [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],
]

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

__lowercase										= tuple[int, int]


class      lowerCamelCase_					:






    '''simple docstring'''






    def __init__(     self			,			__lowercase			,			__lowercase			,			__lowercase			,			__lowercase			,			__lowercase			,			__lowercase			,			)	->     None:
        __UpperCamelCase					:Optional[Any]        =		pos_x
        __UpperCamelCase					:int        =		pos_y
        __UpperCamelCase					:Tuple        =		(pos_y, pos_x)
        __UpperCamelCase					:List[str]        =		goal_x
        __UpperCamelCase					:List[str]        =		goal_y
        __UpperCamelCase					:Optional[int]        =		g_cost
        __UpperCamelCase					:Tuple        =		parent
        __UpperCamelCase					:Tuple        =		self.calculate_heuristic()
        __UpperCamelCase					:str        =		self.g_cost + self.h_cost







    def       UpperCamelCase__       (     self)	->     float:
        __UpperCamelCase					:Tuple        =		self.pos_x - self.goal_x
        __UpperCamelCase					:str        =		self.pos_y - self.goal_y
        if HEURISTIC == 1:
            return abs(__lowercase) + abs(__lowercase)
        else:
            return sqrt(dy**2 + dx**2)







    def __lt__(     self			,			__lowercase)	->     bool:
        return self.f_cost < other.f_cost


class      lowerCamelCase_					:






    '''simple docstring'''






    def __init__(     self			,			__lowercase			,			__lowercase)	->     List[Any]:
        __UpperCamelCase					:List[str]        =		Node(start[1]			,			start[0]			,			goal[1]			,			goal[0]			,			0			,			__lowercase)
        __UpperCamelCase					:int        =		Node(goal[1]			,			goal[0]			,			goal[1]			,			goal[0]			,			99_999			,			__lowercase)

        __UpperCamelCase					:Dict        =		[self.start]
        __UpperCamelCase					:list[Node]        =		[]

        __UpperCamelCase					:Dict        =		False







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

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

            self.closed_nodes.append(__lowercase)
            __UpperCamelCase					:Optional[int]        =		self.get_successors(__lowercase)

            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(__lowercase)
                else:
                    # retrieve the best current path
                    __UpperCamelCase					:str        =		self.open_nodes.pop(self.open_nodes.index(__lowercase))

                    if child_node.g_cost < better_node.g_cost:
                        self.open_nodes.append(__lowercase)
                    else:
                        self.open_nodes.append(__lowercase)

        return [self.start.pos]







    def       UpperCamelCase__       (     self			,			__lowercase)	->     list[Node]:
        __UpperCamelCase					:List[str]        =		[]
        for action in delta:
            __UpperCamelCase					:str        =		parent.pos_x + action[1]
            __UpperCamelCase					:List[str]        =		parent.pos_y + action[0]
            if not (0 <= pos_x <= len(grid[0]) - 1 and 0 <= pos_y <= len(__lowercase) - 1):
                continue

            if grid[pos_y][pos_x] != 0:
                continue

            successors.append(
                Node(
                    __lowercase			,			__lowercase			,			self.target.pos_y			,			self.target.pos_x			,			parent.g_cost + 1			,			__lowercase			,			))
        return successors







    def       UpperCamelCase__       (     self			,			__lowercase)	->     list[TPosition]:
        __UpperCamelCase					:Optional[int]        =		node
        __UpperCamelCase					:Any        =		[]
        while current_node is not None:
            path.append((current_node.pos_y, current_node.pos_x))
            __UpperCamelCase					:List[str]        =		current_node.parent
        path.reverse()
        return path


class      lowerCamelCase_					:






    '''simple docstring'''






    def __init__(     self			,			__lowercase			,			__lowercase)	->     None:
        __UpperCamelCase					:int        =		AStar(__lowercase			,			__lowercase)
        __UpperCamelCase					:Optional[Any]        =		AStar(__lowercase			,			__lowercase)
        __UpperCamelCase					:Optional[int]        =		False







    def       UpperCamelCase__       (     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()
            __UpperCamelCase					:List[str]        =		self.fwd_astar.open_nodes.pop(0)
            __UpperCamelCase					:Optional[Any]        =		self.bwd_astar.open_nodes.pop(0)

            if current_bwd_node.pos == current_fwd_node.pos:
                return self.retrace_bidirectional_path(
                    __lowercase			,			__lowercase)

            self.fwd_astar.closed_nodes.append(__lowercase)
            self.bwd_astar.closed_nodes.append(__lowercase)

            __UpperCamelCase					:int        =		current_bwd_node
            __UpperCamelCase					:List[Any]        =		current_fwd_node

            __UpperCamelCase					:Optional[int]        =		{
                self.fwd_astar: self.fwd_astar.get_successors(__lowercase),
                self.bwd_astar: self.bwd_astar.get_successors(__lowercase),
            }

            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(__lowercase)
                    else:
                        # retrieve the best current path
                        __UpperCamelCase					:Optional[int]        =		astar.open_nodes.pop(
                            astar.open_nodes.index(__lowercase))

                        if child_node.g_cost < better_node.g_cost:
                            astar.open_nodes.append(__lowercase)
                        else:
                            astar.open_nodes.append(__lowercase)

        return [self.fwd_astar.start.pos]







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


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

    __lowercase										= time.time()
    __lowercase										= AStar(init, goal)
    __lowercase										= a_star.search()
    __lowercase										= time.time() - start_time
    print(F'AStar execution time = {end_time:f} seconds')

    __lowercase										= time.time()
    __lowercase										= BidirectionalAStar(init, goal)
    __lowercase										= time.time() - bd_start_time
    print(F'BidirectionalAStar execution time = {bd_end_time:f} seconds')






from __future__ import annotations



def lowerCamelCase  (       SCREAMING_SNAKE_CASE  ,      SCREAMING_SNAKE_CASE  ,      SCREAMING_SNAKE_CASE  ,      ):
    '''simple docstring'''







    if (stress, tangential_force, area).count(0     ) != 1:
        raise ValueError('''You cannot supply more or less than 2 values'''     )
    elif stress < 0:
        raise ValueError('''Stress cannot be negative'''     )
    elif tangential_force < 0:
        raise ValueError('''Tangential Force cannot be negative'''     )
    elif area < 0:
        raise ValueError('''Area cannot be negative'''     )
    elif stress == 0:
        return (
            "stress",
            tangential_force / area,
        )
    elif tangential_force == 0:
        return (
            "tangential_force",
            stress * area,
        )
    else:
        return (
            "area",
            tangential_force / stress,
        )


if __name__ == "__main__":
    import doctest

    doctest.testmod()





