

'''simple docstring'''





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
A_	= 0

A_	= [
    [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],
]

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

A_	= tuple[int, int]


class  UpperCAmelCase :

		'''simple docstring'''






		def __init__(					self   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_   ,			)  ->     None:






							'''simple docstring'''



							lowerCamelCase_  				=      pos_x
							lowerCamelCase_  				=      pos_y
							lowerCamelCase_  				=      (pos_y, pos_x)
							lowerCamelCase_  				=      goal_x
							lowerCamelCase_  				=      goal_y
							lowerCamelCase_  				=      g_cost
							lowerCamelCase_  				=      parent
							lowerCamelCase_  				=      self.calculate_heuristic()
							lowerCamelCase_  				=      self.g_cost + self.h_cost
		def 			UpperCamelCase(					self		)  ->     float:






							'''simple docstring'''



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






		def __lt__(					self   ,			SCREAMING_SNAKE_CASE_		)  ->     bool:






							'''simple docstring'''



							return self.f_cost < other.f_cost


class  UpperCAmelCase :

		'''simple docstring'''






		def __init__(					self   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_		)  ->     Dict:






							'''simple docstring'''



							lowerCamelCase_  				=      Node(start[1]   ,			start[0]   ,			goal[1]   ,			goal[0]   ,			0   ,			SCREAMING_SNAKE_CASE_		)
							lowerCamelCase_  				=      Node(goal[1]   ,			goal[0]   ,			goal[1]   ,			goal[0]   ,			99999   ,			SCREAMING_SNAKE_CASE_		)

							lowerCamelCase_  				=      [self.start]
							lowerCamelCase_  				=      []

							lowerCamelCase_  				=      False
		def 			UpperCamelCase(					self		)  ->     list[TPosition]:






							'''simple docstring'''



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

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

												self.closed_nodes.append(SCREAMING_SNAKE_CASE_		)
												lowerCamelCase_  				=      self.get_successors(SCREAMING_SNAKE_CASE_		)

												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(SCREAMING_SNAKE_CASE_		)
																	else:
																						# retrieve the best current path
																						lowerCamelCase_  				=      self.open_nodes.pop(self.open_nodes.index(SCREAMING_SNAKE_CASE_		)		)

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

							return [self.start.pos]
		def 			UpperCamelCase(					self   ,			SCREAMING_SNAKE_CASE_		)  ->     list[Node]:






							'''simple docstring'''



							lowerCamelCase_  				=      []
							for action in delta:
												lowerCamelCase_  				=      parent.pos_x + action[1]
												lowerCamelCase_  				=      parent.pos_y + action[0]
												if not (0 <= pos_x <= len(grid[0]		) - 1 and 0 <= pos_y <= len(SCREAMING_SNAKE_CASE_		) - 1):
																	continue

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

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






		def 			UpperCamelCase(					self   ,			SCREAMING_SNAKE_CASE_		)  ->     list[TPosition]:






							'''simple docstring'''



							lowerCamelCase_  				=      node
							lowerCamelCase_  				=      []
							while current_node is not None:
												path.append((current_node.pos_y, current_node.pos_x)		)
												lowerCamelCase_  				=      current_node.parent
							path.reverse()
							return path


class  UpperCAmelCase :

		'''simple docstring'''






		def __init__(					self   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_		)  ->     None:






							'''simple docstring'''



							lowerCamelCase_  				=      AStar(SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_		)
							lowerCamelCase_  				=      AStar(SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_		)
							lowerCamelCase_  				=      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()
												lowerCamelCase_  				=      self.fwd_astar.open_nodes.pop(0		)
												lowerCamelCase_  				=      self.bwd_astar.open_nodes.pop(0		)

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

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

												lowerCamelCase_  				=      current_bwd_node
												lowerCamelCase_  				=      current_fwd_node

												lowerCamelCase_  				=      {
												    self.fwd_astar: self.fwd_astar.get_successors(SCREAMING_SNAKE_CASE_		),
												    self.bwd_astar: self.bwd_astar.get_successors(SCREAMING_SNAKE_CASE_		),
												}

												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(SCREAMING_SNAKE_CASE_		)
																						else:
																											# retrieve the best current path
																											lowerCamelCase_  				=      astar.open_nodes.pop(
																											    astar.open_nodes.index(SCREAMING_SNAKE_CASE_		)		)

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

							return [self.fwd_astar.start.pos]






		def 			UpperCamelCase(					self   ,			SCREAMING_SNAKE_CASE_   ,			SCREAMING_SNAKE_CASE_		)  ->     list[TPosition]:






							'''simple docstring'''



							lowerCamelCase_  				=      self.fwd_astar.retrace_path(SCREAMING_SNAKE_CASE_		)
							lowerCamelCase_  				=      self.bwd_astar.retrace_path(SCREAMING_SNAKE_CASE_		)
							bwd_path.pop()
							bwd_path.reverse()
							lowerCamelCase_  				=      fwd_path + bwd_path
							return path


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

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

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




from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_torch_available, is_vision_available


a  :      int            =    {
    """configuration_bridgetower""": [
        """BRIDGETOWER_PRETRAINED_CONFIG_ARCHIVE_MAP""",
        """BridgeTowerConfig""",
        """BridgeTowerTextConfig""",
        """BridgeTowerVisionConfig""",
    ],
    """processing_bridgetower""": ["""BridgeTowerProcessor"""],
}

try:
 if not is_vision_available():
  raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
 pass
else:
 a  :      Any            =    ["""BridgeTowerImageProcessor"""]

try:
 if not is_torch_available():
  raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
 pass
else:
 a  :      str            =    [
     """BRIDGETOWER_PRETRAINED_MODEL_ARCHIVE_LIST""",
     """BridgeTowerForContrastiveLearning""",
     """BridgeTowerForImageAndTextRetrieval""",
     """BridgeTowerForMaskedLM""",
     """BridgeTowerModel""",
     """BridgeTowerPreTrainedModel""",
 ]


if TYPE_CHECKING:
 from .configuration_bridgetower import (
     BRIDGETOWER_PRETRAINED_CONFIG_ARCHIVE_MAP,
     BridgeTowerConfig,
     BridgeTowerTextConfig,
     BridgeTowerVisionConfig,
 )
 from .processing_bridgetower import BridgeTowerProcessor

 try:
  if not is_vision_available():
   raise OptionalDependencyNotAvailable()
 except OptionalDependencyNotAvailable:
  pass
 else:
  from .image_processing_bridgetower import BridgeTowerImageProcessor

 try:
  if not is_torch_available():
   raise OptionalDependencyNotAvailable()
 except OptionalDependencyNotAvailable:
  pass
 else:
  from .modeling_bridgetower import (
      BRIDGETOWER_PRETRAINED_MODEL_ARCHIVE_LIST,
      BridgeTowerForContrastiveLearning,
      BridgeTowerForImageAndTextRetrieval,
      BridgeTowerForMaskedLM,
      BridgeTowerModel,
      BridgeTowerPreTrainedModel,
  )


else:
 import sys

 a  :      List[Any]            =    _LazyModule(__name__, globals()["""__file__"""], _import_structure)