




from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
lowerCamelCase__ :   Optional[int]					=							0

lowerCamelCase__ :   Optional[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],
]

lowerCamelCase__ :   Tuple					=							[[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

lowerCamelCase__ :   Union[str, Any]					=							tuple[int, int]





class        lowerCamelCase_							:


 '''simple docstring'''







 def __init__(							self  :		str				,				_lowerCAmelCase  :		int				,				_lowerCAmelCase  :		int				,				_lowerCAmelCase  :		int				,				_lowerCAmelCase  :		int				,				_lowerCAmelCase  :		int				,				_lowerCAmelCase  :		Node | None				,				):
       SCREAMING_SNAKE_CASE_							=			pos_x
       SCREAMING_SNAKE_CASE_							=			pos_y
       SCREAMING_SNAKE_CASE_							=			(pos_y, pos_x)
       SCREAMING_SNAKE_CASE_							=			goal_x
       SCREAMING_SNAKE_CASE_							=			goal_y
       SCREAMING_SNAKE_CASE_							=			g_cost
       SCREAMING_SNAKE_CASE_							=			parent
       SCREAMING_SNAKE_CASE_							=			self.calculate_heuristic()
       SCREAMING_SNAKE_CASE_							=			self.g_cost + self.h_cost



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




 def __lt__(							self  :		Optional[int]				,				_lowerCAmelCase  :		Node						):
       return self.f_cost < other.f_cost





class        lowerCamelCase_							:


 '''simple docstring'''







 def __init__(							self  :		List[Any]				,				_lowerCAmelCase  :		TPosition				,				_lowerCAmelCase  :		TPosition						):
       SCREAMING_SNAKE_CASE_							=			Node(start[1]				,				start[0]				,				goal[1]				,				goal[0]				,				0				,				_lowerCAmelCase						)
       SCREAMING_SNAKE_CASE_							=			Node(goal[1]				,				goal[0]				,				goal[1]				,				goal[0]				,				99_999				,				_lowerCAmelCase						)

       SCREAMING_SNAKE_CASE_							=			[self.start]
       SCREAMING_SNAKE_CASE_							=			[]

       SCREAMING_SNAKE_CASE_							=			False



 def       lowerCAmelCase_  (							self  :		str						):
       while self.open_nodes:
             # Open Nodes are sorted using __lt__
             self.open_nodes.sort()
             SCREAMING_SNAKE_CASE_							=			self.open_nodes.pop(0						)

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

             self.closed_nodes.append(_lowerCAmelCase						)
             SCREAMING_SNAKE_CASE_							=			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
                         SCREAMING_SNAKE_CASE_							=			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       lowerCAmelCase_  (							self  :		Optional[int]				,				_lowerCAmelCase  :		Node						):
       SCREAMING_SNAKE_CASE_							=			[]
       for action in delta:
             SCREAMING_SNAKE_CASE_							=			parent.pos_x + action[1]
             SCREAMING_SNAKE_CASE_							=			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       lowerCAmelCase_  (							self  :		List[Any]				,				_lowerCAmelCase  :		Node | None						):
       SCREAMING_SNAKE_CASE_							=			node
       SCREAMING_SNAKE_CASE_							=			[]
       while current_node is not None:
             path.append((current_node.pos_y, current_node.pos_x)						)
             SCREAMING_SNAKE_CASE_							=			current_node.parent
       path.reverse()
       return path





class        lowerCamelCase_							:


 '''simple docstring'''







 def __init__(							self  :		str				,				_lowerCAmelCase  :		TPosition				,				_lowerCAmelCase  :		TPosition						):
       SCREAMING_SNAKE_CASE_							=			AStar(_lowerCAmelCase				,				_lowerCAmelCase						)
       SCREAMING_SNAKE_CASE_							=			AStar(_lowerCAmelCase				,				_lowerCAmelCase						)
       SCREAMING_SNAKE_CASE_							=			False



 def       lowerCAmelCase_  (							self  :		List[Any]						):
       while self.fwd_astar.open_nodes or self.bwd_astar.open_nodes:
             self.fwd_astar.open_nodes.sort()
             self.bwd_astar.open_nodes.sort()
             SCREAMING_SNAKE_CASE_							=			self.fwd_astar.open_nodes.pop(0						)
             SCREAMING_SNAKE_CASE_							=			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						)

             SCREAMING_SNAKE_CASE_							=			current_bwd_node
             SCREAMING_SNAKE_CASE_							=			current_fwd_node

             SCREAMING_SNAKE_CASE_							=			{
                 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
                               SCREAMING_SNAKE_CASE_							=			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       lowerCAmelCase_  (							self  :		List[str]				,				_lowerCAmelCase  :		Node				,				_lowerCAmelCase  :		Node						):
       SCREAMING_SNAKE_CASE_							=			self.fwd_astar.retrace_path(_lowerCAmelCase						)
       SCREAMING_SNAKE_CASE_							=			self.bwd_astar.retrace_path(_lowerCAmelCase						)
       bwd_path.pop()
       bwd_path.reverse()
       SCREAMING_SNAKE_CASE_							=			fwd_path + bwd_path
       return path


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

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

   lowerCamelCase__ :   Dict					=							time.time()
   lowerCamelCase__ :   Dict					=							BidirectionalAStar(init, goal)
   lowerCamelCase__ :   str					=							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_tokenizers_available,
    is_torch_available,
    is_vision_available,
)


lowerCamelCase__ :   Union[str, Any]					=							{
    'configuration_layoutlmv2': ['LAYOUTLMV2_PRETRAINED_CONFIG_ARCHIVE_MAP', 'LayoutLMv2Config'],
    'processing_layoutlmv2': ['LayoutLMv2Processor'],
    'tokenization_layoutlmv2': ['LayoutLMv2Tokenizer'],
}

try:
   if not is_tokenizers_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   lowerCamelCase__ :   Any					=							['LayoutLMv2TokenizerFast']

try:
   if not is_vision_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   lowerCamelCase__ :   Dict					=							['LayoutLMv2FeatureExtractor']
   lowerCamelCase__ :   Dict					=							['LayoutLMv2ImageProcessor']

try:
   if not is_torch_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   lowerCamelCase__ :   Union[str, Any]					=							[
       'LAYOUTLMV2_PRETRAINED_MODEL_ARCHIVE_LIST',
       'LayoutLMv2ForQuestionAnswering',
       'LayoutLMv2ForSequenceClassification',
       'LayoutLMv2ForTokenClassification',
       'LayoutLMv2Layer',
       'LayoutLMv2Model',
       'LayoutLMv2PreTrainedModel',
   ]

if TYPE_CHECKING:
   from .configuration_layoutlmva import LAYOUTLMV2_PRETRAINED_CONFIG_ARCHIVE_MAP, LayoutLMvaConfig
   from .processing_layoutlmva import LayoutLMvaProcessor
   from .tokenization_layoutlmva import LayoutLMvaTokenizer

   try:
      if not is_tokenizers_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .tokenization_layoutlmva_fast import LayoutLMvaTokenizerFast

   try:
      if not is_vision_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .feature_extraction_layoutlmva import LayoutLMvaFeatureExtractor, LayoutLMvaImageProcessor

   try:
      if not is_torch_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .modeling_layoutlmva import (
          LAYOUTLMV2_PRETRAINED_MODEL_ARCHIVE_LIST,
          LayoutLMvaForQuestionAnswering,
          LayoutLMvaForSequenceClassification,
          LayoutLMvaForTokenClassification,
          LayoutLMvaLayer,
          LayoutLMvaModel,
          LayoutLMvaPreTrainedModel,
      )
else:
   import sys

   lowerCamelCase__ :   Any					=							_LazyModule(__name__, globals()['__file__'], _import_structure, module_spec=__spec__)