


from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCAmelCase       =							0

lowerCAmelCase       =							[
    [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],
]

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

lowerCAmelCase       =							tuple[int, int]


class        _a							:

							def __init__(							self:	Optional[Any]    ,						UpperCamelCase_:	int    ,						UpperCamelCase_:	int    ,						UpperCamelCase_:	int    ,						UpperCamelCase_:	int    ,						UpperCamelCase_:	int    ,						UpperCamelCase_:	Node | None    ,						)			->   None:





									"""simple docstring"""







									lowercase__            =      pos_x
									lowercase__            =      pos_y
									lowercase__            =      (pos_y, pos_x)
									lowercase__            =      goal_x
									lowercase__            =      goal_y
									lowercase__            =      g_cost
									lowercase__            =      parent
									lowercase__            =      self.calculate_heuristic()
									lowercase__            =      self.g_cost + self.h_cost

							def       lowerCamelCase_ (							self:	Union[str, Any]							)			->   float:





									"""simple docstring"""







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


							def __lt__(							self:	Optional[Any]    ,						UpperCamelCase_:	Node							)			->   bool:





									"""simple docstring"""







									return self.f_cost < other.f_cost


class        _a							:

							def __init__(							self:	List[Any]    ,						UpperCamelCase_:	TPosition    ,						UpperCamelCase_:	TPosition							)			->   Dict:





									"""simple docstring"""







									lowercase__            =      Node(start[1]    ,						start[0]    ,						goal[1]    ,						goal[0]    ,						0    ,						UpperCamelCase_							)
									lowercase__            =      Node(goal[1]    ,						goal[0]    ,						goal[1]    ,						goal[0]    ,						99_999    ,						UpperCamelCase_							)

									lowercase__            =      [self.start]
									lowercase__            =      []

									lowercase__            =      False

							def       lowerCamelCase_ (							self:	Any							)			->   list[TPosition]:





									"""simple docstring"""







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

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

											self.closed_nodes.append(UpperCamelCase_							)
											lowercase__            =      self.get_successors(UpperCamelCase_							)

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

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

									return [self.start.pos]

							def       lowerCamelCase_ (							self:	List[Any]    ,						UpperCamelCase_:	Node							)			->   list[Node]:





									"""simple docstring"""







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

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

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


							def       lowerCamelCase_ (							self:	Optional[int]    ,						UpperCamelCase_:	Node | None							)			->   list[TPosition]:





									"""simple docstring"""







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


class        _a							:

							def __init__(							self:	Optional[int]    ,						UpperCamelCase_:	TPosition    ,						UpperCamelCase_:	TPosition							)			->   None:





									"""simple docstring"""







									lowercase__            =      AStar(UpperCamelCase_    ,						UpperCamelCase_							)
									lowercase__            =      AStar(UpperCamelCase_    ,						UpperCamelCase_							)
									lowercase__            =      False

							def       lowerCamelCase_ (							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()
											lowercase__            =      self.fwd_astar.open_nodes.pop(0							)
											lowercase__            =      self.bwd_astar.open_nodes.pop(0							)

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

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

											lowercase__            =      current_bwd_node
											lowercase__            =      current_fwd_node

											lowercase__            =      {
											    self.fwd_astar: self.fwd_astar.get_successors(UpperCamelCase_							),
											    self.bwd_astar: self.bwd_astar.get_successors(UpperCamelCase_							),
											}

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

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

									return [self.fwd_astar.start.pos]


							def       lowerCamelCase_ (							self:	Tuple    ,						UpperCamelCase_:	Node    ,						UpperCamelCase_:	Node							)			->   list[TPosition]:





									"""simple docstring"""







									lowercase__            =      self.fwd_astar.retrace_path(UpperCamelCase_							)
									lowercase__            =      self.bwd_astar.retrace_path(UpperCamelCase_							)
									bwd_path.pop()
									bwd_path.reverse()
									lowercase__            =      fwd_path + bwd_path
									return path


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

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

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






from ..utils import DummyObject, requires_backends


class        _a							(			metaclass=UpperCamelCase__			):
							_lowercase	:			Any        = ['''torch''', '''scipy''']

							def __init__(							self:	int    ,						*UpperCamelCase_:	Any    ,						**UpperCamelCase_:	Optional[Any]							)			->   List[str]:





									"""simple docstring"""







									requires_backends(self    ,						['''torch''', '''scipy''']							)

							@classmethod
							def       lowerCamelCase_ (							cls:	Optional[int]    ,						*UpperCamelCase_:	Any    ,						**UpperCamelCase_:	List[Any]							)			->   int:





									"""simple docstring"""







									requires_backends(cls    ,						['''torch''', '''scipy''']							)


							@classmethod
							def       lowerCamelCase_ (							cls:	Any    ,						*UpperCamelCase_:	Any    ,						**UpperCamelCase_:	Dict							)			->   Optional[int]:





									"""simple docstring"""







									requires_backends(cls    ,						['''torch''', '''scipy''']							)


