import math


class State:

    def __init__(self, direction, x, y):
        self.direction = direction  # kierunek w ktorym "patrzy wozek"
        self.x = x
        self.y = y

    def get_direction(self):
        return self.direction

    def get_x(self):
        return self.x

    def get_y(self):
        return self.y

    def goal_test(self, goal):    # sprawdza czy osiagnelismy cel
        if self.x == goal[0] and self.y == goal[1]:
            return True
        else:
            return False


class Node:
    def __init__(self, state, walkable):
        self.state = state
        self.direction = state.direction
        self.walkable = walkable
        self.g_cost = 0
        self.h_cost = 0
        self.parent = None
        self.heap_index = 0

    def get_action(self):
        return self.action

    def get_direction(self):
        return self.direction

    def get_parent(self):
        return self.parent

    def f_cost(self):
        if self.walkable:
            return self.g_cost + self.h_cost
        else:
            # return 0
            return math.inf
    # if fringe[i].f_cost() < current_node.f_cost() or (fringe[i].f_cost() == current_node.f_cost() and fringe[i].h_cost < current_node.h_cost):
    def __lt__(self, other):
        if self.f_cost() == other.f_cost():
            return self.h_cost < other.h_cost
        return self.f_cost() < other.f_cost()
    def __gt__(self,other):
        if self.f_cost() == other.f_cost():
            return self.h_cost > other.h_cost
        return self.f_cost() > other.f_cost()
    def __eq__(self,other):
        return self.f_cost() == other.f_cost() and self.h_cost == other.h_cost