





'''simple docstring'''

from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowercase__		:     Union[str, Any]			=							0

lowercase__		:     Optional[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],
]

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

lowercase__		:     Any			=							tuple[int, int]
class 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						Optional[int]			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						int			,					lowerCAmelCase__  :						Node | None			,					)       ->	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 snake_case__		(				self  :						Union[str, Any]	)       ->	float:

            '''simple docstring'''




            _UpperCamelCase							       =			self.pos_x - self.goal_x
            _UpperCamelCase							       =			self.pos_y - self.goal_y
            if HEURISTIC == 1:
                 return abs(lowerCAmelCase__	) + abs(lowerCAmelCase__	)
            else:
                 return sqrt(dy**2 + dx**2	)







       def __lt__(				self  :						str			,					lowerCAmelCase__  :						Node	)       ->	bool:

            '''simple docstring'''




            return self.f_cost < other.f_cost

class 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						Any			,					lowerCAmelCase__  :						TPosition			,					lowerCAmelCase__  :						TPosition	)       ->	List[str]:

            '''simple docstring'''




            _UpperCamelCase							       =			Node(start[1]			,					start[0]			,					goal[1]			,					goal[0]			,					0			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			Node(goal[1]			,					goal[0]			,					goal[1]			,					goal[0]			,					99999			,					lowerCAmelCase__	)

            _UpperCamelCase							       =			[self.start]
            _UpperCamelCase							       =			[]

            _UpperCamelCase							       =			False





       def snake_case__		(				self  :						List[Any]	)       ->	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(lowerCAmelCase__	)

                 self.closed_nodes.append(lowerCAmelCase__	)
                 _UpperCamelCase							       =			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
                           _UpperCamelCase							       =			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 snake_case__		(				self  :						Optional[Any]			,					lowerCAmelCase__  :						Node	)       ->	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(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 snake_case__		(				self  :						List[Any]			,					lowerCAmelCase__  :						Node | None	)       ->	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 							__lowerCAmelCase	:






       """simple docstring"""





       def __init__(				self  :						List[str]			,					lowerCAmelCase__  :						TPosition			,					lowerCAmelCase__  :						TPosition	)       ->	None:

            '''simple docstring'''




            _UpperCamelCase							       =			AStar(lowerCAmelCase__			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			AStar(lowerCAmelCase__			,					lowerCAmelCase__	)
            _UpperCamelCase							       =			False





       def snake_case__		(				self  :						int	)       ->	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(
                          lowerCAmelCase__			,					lowerCAmelCase__	)

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

                 _UpperCamelCase							       =			current_bwd_node
                 _UpperCamelCase							       =			current_fwd_node

                 _UpperCamelCase							       =			{
                     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
                                _UpperCamelCase							       =			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 snake_case__		(				self  :						List[str]			,					lowerCAmelCase__  :						Node			,					lowerCAmelCase__  :						Node	)       ->	list[TPosition]:

            '''simple docstring'''




            _UpperCamelCase							       =			self.fwd_astar.retrace_path(lowerCAmelCase__	)
            _UpperCamelCase							       =			self.bwd_astar.retrace_path(lowerCAmelCase__	)
            bwd_path.pop()
            bwd_path.reverse()
            _UpperCamelCase							       =			fwd_path + bwd_path
            return path


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

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

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









'''simple docstring'''

import argparse
from collections import defaultdict

import yaml


a    :							List[Any]										=    'docs/source/en/_toctree.yml'


def 						__magic_name__       (      __UpperCAmelCase      )						->   str:

					'''simple docstring'''

					snake_case_		     =							defaultdict(__UpperCAmelCase      )
					for doc in model_doc:
										counts[doc["local"]] += 1
					snake_case_		     =							[key for key, value in counts.items() if value > 1]

					snake_case_		     =							[]
					for duplicate_key in duplicates:
										snake_case_		     =							list({doc['''title'''] for doc in model_doc if doc['''local'''] == duplicate_key}      )
										if len(__UpperCAmelCase      ) > 1:
															raise ValueError(
															    F"{duplicate_key} is present several times in the documentation table of content at "
															    '''`docs/source/en/_toctree.yml` with different *Title* values. Choose one of those and remove the '''
															    '''others.'''      )
										# Only add this once
										new_doc.append({'''local''': duplicate_key, '''title''': titles[0]}      )

					# Add none duplicate-keys
					new_doc.extend([doc for doc in model_doc if counts[doc['''local''']] == 1]      )

					# Sort
					return sorted(__UpperCAmelCase, key=lambda __UpperCAmelCase      : s["title"].lower()      )


def 						__magic_name__       (      __UpperCAmelCase=False      )						->   List[Any]:

					'''simple docstring'''

					with open(__UpperCAmelCase, encoding='''utf-8'''      ) as f:
										snake_case_		     =							yaml.safe_load(f.read()      )

					# Get to the API doc
					snake_case_		     =							0
					while content[api_idx]["title"] != "API":
										api_idx += 1
					snake_case_		     =							content[api_idx]['''sections''']

					# Then to the model doc
					snake_case_		     =							0
					while api_doc[model_idx]["title"] != "Models":
										model_idx += 1

					snake_case_		     =							api_doc[model_idx]['''sections''']

					snake_case_		     =							[(idx, section) for idx, section in enumerate(__UpperCAmelCase      ) if '''sections''' in section]
					snake_case_		     =							False
					for idx, modality_doc in modalities_docs:
										snake_case_		     =							modality_doc['''sections''']
										snake_case_		     =							clean_model_doc_toc(__UpperCAmelCase      )

										if old_modality_doc != new_modality_doc:
															snake_case_		     =							True
															if overwrite:
																				snake_case_		     =							new_modality_doc

					if diff:
										if overwrite:
															snake_case_		     =							model_doc
															snake_case_		     =							api_doc
															with open(__UpperCAmelCase, '''w''', encoding='''utf-8'''      ) as f:
																				f.write(yaml.dump(__UpperCAmelCase, allow_unicode=__UpperCAmelCase      )      )
										else:
															raise ValueError(
															    '''The model doc part of the table of content is not properly sorted, run `make style` to fix this.'''      )


if __name__ == "__main__":
							a    :							Dict										=    argparse.ArgumentParser()
							parser.add_argument('--fix_and_overwrite', action='store_true', help='Whether to fix inconsistencies.')
							a    :							Union[str, Any]										=    parser.parse_args()

							check_model_doc(args.fix_and_overwrite)

