'''simple docstring'''

from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
__a: int          =   0

__a: List[str]          =   [
    [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: Optional[Any]          =   [[-1, 0], [0, -1], [1, 0], [0, 1]]  # up, left, down, right

__a: List[Any]          =   tuple[int, int]



class 			UpperCAmelCase  :





       '''simple docstring'''



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

       def _lowerCAmelCase(						self )  ->  float:
        lowercase__				:    Union[str, Any]  =					self.pos_x - self.goal_x
        lowercase__				:    Any  =					self.pos_y - self.goal_y
        if HEURISTIC == 1:
         return abs(__lowerCAmelCase ) + abs(__lowerCAmelCase )
        else:
         return sqrt(dy**2 + dx**2 )


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



class 			UpperCAmelCase  :





       '''simple docstring'''



       def __init__(						self	,   __lowerCAmelCase	,   __lowerCAmelCase )  ->  Optional[Any]:
        lowercase__				:    Optional[Any]  =					Node(start[1]	,   start[0]	,   goal[1]	,   goal[0]	,   0	,   __lowerCAmelCase )
        lowercase__				:    Tuple  =					Node(goal[1]	,   goal[0]	,   goal[1]	,   goal[0]	,   99999	,   __lowerCAmelCase )

        lowercase__				:    str  =					[self.start]
        lowercase__				:    list[Node]  =					[]

        lowercase__				:    Dict  =					False

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

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

         self.closed_nodes.append(__lowerCAmelCase )
         lowercase__				:    List[Any]  =					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
           lowercase__				:    Dict  =					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	,   __lowerCAmelCase )  ->  list[Node]:
        lowercase__				:    List[str]  =					[]
        for action in delta:
         lowercase__				:    Union[str, Any]  =					parent.pos_x + action[1]
         lowercase__				:    List[Any]  =					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	,   __lowerCAmelCase )  ->  list[TPosition]:
        lowercase__				:    Optional[Any]  =					node
        lowercase__				:    int  =					[]
        while current_node is not None:
         path.append((current_node.pos_y, current_node.pos_x) )
         lowercase__				:    Optional[int]  =					current_node.parent
        path.reverse()
        return path



class 			UpperCAmelCase  :





       '''simple docstring'''



       def __init__(						self	,   __lowerCAmelCase	,   __lowerCAmelCase )  ->  None:
        lowercase__				:    Tuple  =					AStar(__lowerCAmelCase	,   __lowerCAmelCase )
        lowercase__				:    Union[str, Any]  =					AStar(__lowerCAmelCase	,   __lowerCAmelCase )
        lowercase__				:    int  =					False

       def _lowerCAmelCase(						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()
         lowercase__				:    Optional[int]  =					self.fwd_astar.open_nodes.pop(0 )
         lowercase__				:    Dict  =					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 )

         lowercase__				:    Any  =					current_bwd_node
         lowercase__				:    Optional[int]  =					current_fwd_node

         lowercase__				:    str  =					{
             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
            lowercase__				:    Dict  =					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	,   __lowerCAmelCase	,   __lowerCAmelCase )  ->  list[TPosition]:
        lowercase__				:    Dict  =					self.fwd_astar.retrace_path(__lowerCAmelCase )
        lowercase__				:    Dict  =					self.bwd_astar.retrace_path(__lowerCAmelCase )
        bwd_path.pop()
        bwd_path.reverse()
        lowercase__				:    Optional[int]  =					fwd_path + bwd_path
        return path


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

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

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


'''simple docstring'''

from __future__ import annotations

from random import random



class 			UpperCAmelCase  :





       '''simple docstring'''



       def __init__(						self	,   __lowerCAmelCase = None )  ->  str:
        lowercase__				:    Any  =					value
        lowercase__				:    Union[str, Any]  =					random()
        lowercase__				:    Node | None  =					None
        lowercase__				:    Node | None  =					None

       def __repr__(						self )  ->  str:
        from pprint import pformat

        if self.left is None and self.right is None:
         return F"""'{self.value}: {self.prior:.5}'"""
        else:
         return pformat(
             {F"""{self.value}: {self.prior:.5}""": (self.left, self.right)}	,   indent=1 )


       def __str__(						self )  ->  str:
        lowercase__				:    Any  =					str(self.value ) + ''' '''
        lowercase__				:    str  =					str(self.left or '''''' )
        lowercase__				:    List[str]  =					str(self.right or '''''' )
        return value + left + right


def 			__UpperCamelCase       (   UpperCAmelCase		,     UpperCAmelCase     ):
 if root is None:  # None tree is split into 2 Nones
  return None, None
 elif root.value is None:
  return None, None
 else:
  if value < root.value:
   lowercase__ ,							lowercase__				:    int  =					split(root.left		,     UpperCAmelCase     )
   return left, root
  else:
   lowercase__ ,							lowercase__				:    Optional[Any]  =					split(root.right		,     UpperCAmelCase     )
   return root, right
def 			__UpperCamelCase       (   UpperCAmelCase		,     UpperCAmelCase     ):
 if (not left) or (not right):  # If one node is None, return the other
  return left or right
 elif left.prior < right.prior:
  lowercase__				:    Any  =					merge(left.right		,     UpperCAmelCase     )
  return left
 else:
  lowercase__				:    Dict  =					merge(UpperCAmelCase		,     right.left     )
  return right
def 			__UpperCamelCase       (   UpperCAmelCase		,     UpperCAmelCase     ):
 lowercase__				:    Dict  =					Node(UpperCAmelCase     )
 lowercase__ ,							lowercase__				:    Tuple  =					split(UpperCAmelCase		,     UpperCAmelCase     )
 return merge(merge(UpperCAmelCase		,     UpperCAmelCase     )		,     UpperCAmelCase     )
def 			__UpperCamelCase       (   UpperCAmelCase		,     UpperCAmelCase     ):
 lowercase__ ,							lowercase__				:    Dict  =					split(UpperCAmelCase		,     value - 1     )
 lowercase__ ,							lowercase__				:    int  =					split(UpperCAmelCase		,     UpperCAmelCase     )
 return merge(UpperCAmelCase		,     UpperCAmelCase     )
def 			__UpperCamelCase       (   UpperCAmelCase     ):
 if not root:  # None
  return
 else:
  inorder(root.left     )
  print(root.value		,     end=''','''     )
  inorder(root.right     )
def 			__UpperCamelCase       (   UpperCAmelCase		,     UpperCAmelCase     ):
 for arg in args.split():
  if arg[0] == "+":
   lowercase__				:    Tuple  =					insert(UpperCAmelCase		,     int(arg[1:]     )     )

  elif arg[0] == "-":
   lowercase__				:    Union[str, Any]  =					erase(UpperCAmelCase		,     int(arg[1:]     )     )

  else:
   print('''Unknown command'''     )

 return root
def 			__UpperCamelCase       (   ):
 lowercase__				:    Tuple  =					None
 print(
     '''enter numbers to create a tree, + value to add value into treap, '''
     '''- value to erase all nodes with value. \'q\' to quit. '''     )

 lowercase__				:    Dict  =					input()
 while args != "q":
  lowercase__				:    Any  =					interact_treap(UpperCAmelCase		,     UpperCAmelCase     )
  print(UpperCAmelCase     )
  lowercase__				:    List[Any]  =					input()

 print('''good by!'''     )


if __name__ == "__main__":
  import doctest

  doctest.testmod()
  main()

