


'''simple docstring'''






import os
import string
import sys


__UpperCAmelCase       							=				1 << 8

__UpperCAmelCase       							=				{
    '''tab''': ord('''\t'''),
    '''newline''': ord('''\r'''),
    '''esc''': 27,
    '''up''': 65 + ARROW_KEY_FLAG,
    '''down''': 66 + ARROW_KEY_FLAG,
    '''right''': 67 + ARROW_KEY_FLAG,
    '''left''': 68 + ARROW_KEY_FLAG,
    '''mod_int''': 91,
    '''undefined''': sys.maxsize,
    '''interrupt''': 3,
    '''insert''': 50,
    '''delete''': 51,
    '''pg_up''': 53,
    '''pg_down''': 54,
}

__UpperCAmelCase       							=				KEYMAP['''up''']
__UpperCAmelCase       							=				KEYMAP['''left''']

if sys.platform == "win32":
		__UpperCAmelCase       							=				[]
		__UpperCAmelCase       							=				{
		    b'''\xe0H''': KEYMAP['''up'''] - ARROW_KEY_FLAG,
		    b'''\x00H''': KEYMAP['''up'''] - ARROW_KEY_FLAG,
		    b'''\xe0P''': KEYMAP['''down'''] - ARROW_KEY_FLAG,
		    b'''\x00P''': KEYMAP['''down'''] - ARROW_KEY_FLAG,
		    b'''\xe0M''': KEYMAP['''right'''] - ARROW_KEY_FLAG,
		    b'''\x00M''': KEYMAP['''right'''] - ARROW_KEY_FLAG,
		    b'''\xe0K''': KEYMAP['''left'''] - ARROW_KEY_FLAG,
		    b'''\x00K''': KEYMAP['''left'''] - ARROW_KEY_FLAG,
		}

for i in range(10):
		__UpperCAmelCase       							=				ord(str(i))


def    _snake_case  (	)		->       List[Any]:
							if os.name == "nt":
														import msvcrt

														lowerCAmelCase__			  =      '''mbcs'''
														# Flush the keyboard buffer
														while msvcrt.kbhit():
																					msvcrt.getch()
														if len(A			) == 0:
																					# Read the keystroke
																					lowerCAmelCase__			  =      msvcrt.getch()

																					# If it is a prefix char, get second part
																					if ch in (b"\x00", b"\xe0"):
																												lowerCAmelCase__			  =      ch + msvcrt.getch()
																												# Translate actual Win chars to bullet char types
																												try:
																																			lowerCAmelCase__			  =      chr(WIN_KEYMAP[cha]			)
																																			WIN_CH_BUFFER.append(chr(KEYMAP['''mod_int''']			)			)
																																			WIN_CH_BUFFER.append(A			)
																																			if ord(A			) in (
																																			    KEYMAP["insert"] - 1 << 9,
																																			    KEYMAP["delete"] - 1 << 9,
																																			    KEYMAP["pg_up"] - 1 << 9,
																																			    KEYMAP["pg_down"] - 1 << 9,
																																			):
																																										WIN_CH_BUFFER.append(chr(126			)			)
																																			lowerCAmelCase__			  =      chr(KEYMAP['''esc''']			)
																												except KeyError:
																																			lowerCAmelCase__			  =      cha[1]
																					else:
																												lowerCAmelCase__			  =      ch.decode(A			)
														else:
																					lowerCAmelCase__			  =      WIN_CH_BUFFER.pop(0			)
							elif os.name == "posix":
														import termios
														import tty

														lowerCAmelCase__			  =      sys.stdin.fileno()
														lowerCAmelCase__			  =      termios.tcgetattr(A			)
														try:
																					tty.setraw(A			)
																					lowerCAmelCase__			  =      sys.stdin.read(1			)
														finally:
																					termios.tcsetattr(A					,       termios.TCSADRAIN					,       A			)
							return ch






def    _snake_case  (	)		->       Optional[Any]:
							lowerCAmelCase__			  =      get_raw_chars()
							if ord(A			) in [KEYMAP["interrupt"], KEYMAP["newline"]]:
														return char

							elif ord(A			) == KEYMAP["esc"]:
														lowerCAmelCase__			  =      get_raw_chars()
														if ord(A			) == KEYMAP["mod_int"]:
																					lowerCAmelCase__			  =      get_raw_chars()
																					if ord(A			) >= KEYMAP["arrow_begin"] - ARROW_KEY_FLAG and ord(A			) <= KEYMAP["arrow_end"] - ARROW_KEY_FLAG:
																												return chr(ord(A			) + ARROW_KEY_FLAG			)
																					else:
																												return KEYMAP["undefined"]
														else:
																					return get_raw_chars()

							else:
														if char in string.printable:
																					return char
														else:
																					return KEYMAP["undefined"]




import numpy as np


class 	__snake_case   :
		def __init__(							self						):







						"""simple docstring"""
						lowerCAmelCase__		  =  (0, 0)
						lowerCAmelCase__		  =  None
						lowerCAmelCase__		  =  0
						lowerCAmelCase__		  =  0
						lowerCAmelCase__		  =  0
		def __eq__(							self    ,a_						):







						"""simple docstring"""
						return self.position == cell.position



		def 						SCREAMING_SNAKE_CASE_					(							self						):







						"""simple docstring"""
						print(self.position						)



class 	__snake_case   :
		def __init__(							self    ,a_=(5, 5)						):







						"""simple docstring"""
						lowerCAmelCase__		  =  np.zeros(a_						)
						lowerCAmelCase__		  =  world_size[0]
						lowerCAmelCase__		  =  world_size[1]
		def 						SCREAMING_SNAKE_CASE_					(							self						):







						"""simple docstring"""
						print(self.w						)



		def 						SCREAMING_SNAKE_CASE_					(							self    ,a_						):







						"""simple docstring"""
						lowerCAmelCase__		  =  [
						    (-1, -1),
						    (-1, 0),
						    (-1, 1),
						    (0, -1),
						    (0, 1),
						    (1, -1),
						    (1, 0),
						    (1, 1),
						]
						lowerCAmelCase__		  =  cell.position[0]
						lowerCAmelCase__		  =  cell.position[1]
						lowerCAmelCase__		  =  []
						for n in neughbour_cord:
										lowerCAmelCase__		  =  current_x + n[0]
										lowerCAmelCase__		  =  current_y + n[1]
										if 0 <= x < self.world_x_limit and 0 <= y < self.world_y_limit:
														lowerCAmelCase__		  =  Cell()
														lowerCAmelCase__		  =  (x, y)
														lowerCAmelCase__		  =  cell
														neighbours.append(a_						)
						return neighbours







def     UpperCAmelCase_		(					snake_case__    ,			snake_case__    ,			snake_case__					)	->     int:



				"""simple docstring"""





				lowerCAmelCase__		  =  []
				lowerCAmelCase__		  =  []
				_open.append(snake_case__					)

				while _open:
								lowerCAmelCase__		  =  np.argmin([n.f for n in _open]					)
								lowerCAmelCase__		  =  _open[min_f]
								_closed.append(_open.pop(snake_case__					)					)
								if current == goal:
												break
								for n in world.get_neigbours(snake_case__					):
												for c in _closed:
																if c == n:
																				continue
												lowerCAmelCase__		  =  current.g + 1
												lowerCAmelCase__  ,   lowerCAmelCase__		  =  n.position
												lowerCAmelCase__  ,   lowerCAmelCase__		  =  goal.position
												lowerCAmelCase__		  =  (ya - ya) ** 2 + (xa - xa) ** 2
												lowerCAmelCase__		  =  n.h + n.g

												for c in _open:
																if c == n and c.f < n.f:
																				continue
												_open.append(snake_case__					)
				lowerCAmelCase__		  =  []
				while current.parent is not None:
								path.append(current.position					)
								lowerCAmelCase__		  =  current.parent
				path.append(current.position					)
				return path[::-1]


if __name__ == "__main__":
	_lowerCAmelCase	:   str    =   Gridworld()
	# Start position and goal
	_lowerCAmelCase	:   List[Any]    =   Cell()
	_lowerCAmelCase	:   List[str]    =   (0, 0)
	_lowerCAmelCase	:   Optional[int]    =   Cell()
	_lowerCAmelCase	:   int    =   (4, 4)
	print(f"""path from {start.position} to {goal.position}""")
	_lowerCAmelCase	:   Optional[int]    =   astar(world, start, goal)
	#   Just for visual reasons.
	for i in s:
		_lowerCAmelCase	:   int    =   1
	print(world.w)
