"""simple docstring"""





from __future__ import annotations

import time
from math import sqrt

# 1 for manhattan, 0 for euclidean
_UpperCamelCase     :		str											=					0

_UpperCamelCase     :		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],
]

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

_UpperCamelCase     :		Tuple											=					tuple[int, int]


class   UpperCAmelCase_			:


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


      def 	_UpperCAmelCase (     self							) ->      float:
             lowercase__    :	List[str]     					=			self.pos_x - self.goal_x
             lowercase__    :	Optional[Any]     					=			self.pos_y - self.goal_y
             if HEURISTIC == 1:
                    return abs(__a							) + abs(__a							)
             else:
                    return sqrt(dy**2 + dx**2							)


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





class   UpperCAmelCase_			:


      def __init__(     self	,    a	,    a							) ->      Optional[Any]:
             lowercase__    :	List[Any]     					=			Node(start[1]	,    start[0]	,    goal[1]	,    goal[0]	,    0	,    __a							)
             lowercase__    :	Tuple     					=			Node(goal[1]	,    goal[0]	,    goal[1]	,    goal[0]	,    9_9_9_9_9	,    __a							)

             lowercase__    :	Optional[Any]     					=			[self.start]
             lowercase__    :	list[Node]     					=			[]

             lowercase__    :	Tuple     					=			False


      def 	_UpperCAmelCase (     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(__a							)

                    self.closed_nodes.append(__a							)
                    lowercase__    :	Dict     					=			self.get_successors(__a							)

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

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

             return [self.start.pos]


      def 	_UpperCAmelCase (     self	,    a							) ->      list[Node]:
             lowercase__    :	str     					=			[]
             for action in delta:
                    lowercase__    :	Union[str, Any]     					=			parent.pos_x + action[1]
                    lowercase__    :	Optional[Any]     					=			parent.pos_y + action[0]
                    if not (0 <= pos_x <= len(grid[0]							) - 1 and 0 <= pos_y <= len(__a							) - 1):
                           continue

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

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


      def 	_UpperCAmelCase (     self	,    a							) ->      list[TPosition]:
             lowercase__    :	Dict     					=			node
             lowercase__    :	Tuple     					=			[]
             while current_node is not None:
                    path.append((current_node.pos_y, current_node.pos_x)							)
                    lowercase__    :	str     					=			current_node.parent
             path.reverse()
             return path





class   UpperCAmelCase_			:


      def __init__(     self	,    a	,    a							) ->      None:
             lowercase__    :	Dict     					=			AStar(__a	,    __a							)
             lowercase__    :	str     					=			AStar(__a	,    __a							)
             lowercase__    :	int     					=			False


      def 	_UpperCAmelCase (     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__    :	Tuple     					=			self.fwd_astar.open_nodes.pop(0							)
                    lowercase__    :	List[Any]     					=			self.bwd_astar.open_nodes.pop(0							)

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

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

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

                    lowercase__    :	Optional[int]     					=			{
                        self.fwd_astar: self.fwd_astar.get_successors(__a							),
                        self.bwd_astar: self.bwd_astar.get_successors(__a							),
                    }

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

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

             return [self.fwd_astar.start.pos]


      def 	_UpperCAmelCase (     self	,    a	,    a							) ->      list[TPosition]:
             lowercase__    :	str     					=			self.fwd_astar.retrace_path(__a							)
             lowercase__    :	Any     					=			self.bwd_astar.retrace_path(__a							)
             bwd_path.pop()
             bwd_path.reverse()
             lowercase__    :	Any     					=			fwd_path + bwd_path
             return path


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

       _UpperCamelCase     :		Optional[int]											=					time.time()
       _UpperCamelCase     :		Optional[int]											=					AStar(init, goal)
       _UpperCamelCase     :		int											=					a_star.search()
       _UpperCamelCase     :		Optional[Any]											=					time.time() - start_time
       print(f'''AStar execution time = {end_time:f} seconds''')

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


"""simple docstring"""





from collections.abc import Sequence





def        a_  (   _lowerCAmelCase						:				Sequence[float]     ,				_lowerCAmelCase						:				float  ):





       '''simple docstring'''

       return sum(c * (x**i) for i, c in enumerate(_lowerCAmelCase  )  )





def        a_  (   _lowerCAmelCase						:				Sequence[float]     ,				_lowerCAmelCase						:				float  ):





       '''simple docstring'''

       lowercase__    :	int     					=			0.0
       for coeff in reversed(_lowerCAmelCase  ):
              lowercase__    :	List[Any]     					=			result * x + coeff
       return result


if __name__ == "__main__":
       _UpperCamelCase     :		int											=					(0.0, 0.0, 5.0, 9.3, 7.0)
       _UpperCamelCase     :		Dict											=					1_0.0
       print(evaluate_poly(poly, x))
       print(horner(poly, x))

