



import heapq
import sys

import numpy as np

lowerCamelCase		       =      tuple[int, int]


class 				_a						:





							'''simple docstring'''

							def __init__(							self				):







											"""simple docstring"""



											a__	:							str      						= []
											a__	:							int      						= set()



							def 		_A	(							self				):







											"""simple docstring"""



											if not self.empty():
															return self.elements[0][0]
											else:
															return float("inf"				)



							def 		_A	(							self				):







											"""simple docstring"""



											return len(self.elements				) == 0



							def 		_A	(							self ,					__UpperCAmelCase ,					__UpperCAmelCase				):







											"""simple docstring"""



											if item not in self.set:
															heapq.heappush(self.elements ,					(priority, item)				)
															self.set.add(__UpperCAmelCase				)
											else:
															# update
															# print("update", item)
															a__	:							List[str]      						= []
															((a__)						,   (a__))	:							Optional[Any]      						= heapq.heappop(self.elements				)
															while x != item:
																			temp.append((pri, x)				)
																			((a__)						,   (a__))	:							Dict      						= heapq.heappop(self.elements				)
															temp.append((priority, item)				)
															for pro, xxx in temp:
																			heapq.heappush(self.elements ,					(pro, xxx)				)



							def 		_A	(							self ,					__UpperCAmelCase				):







											"""simple docstring"""



											if item in self.set:
															self.set.remove(__UpperCAmelCase				)
															a__	:							Optional[int]      						= []
															((a__)						,   (a__))	:							Optional[Any]      						= heapq.heappop(self.elements				)
															while x != item:
																			temp.append((pro, x)				)
																			((a__)						,   (a__))	:							List[Any]      						= heapq.heappop(self.elements				)
															for prito, yyy in temp:
																			heapq.heappush(self.elements ,					(prito, yyy)				)



							def 		_A	(							self				):







											"""simple docstring"""



											return self.elements[0][1]




							def 		_A	(							self				):







											"""simple docstring"""



											((a__)						,   (a__))	:							Optional[int]      						= heapq.heappop(self.elements				)
											self.set.remove(__UpperCAmelCase				)
											return (priority, item)






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase )	->						int:
				# euclidean distance
				a__	:							Optional[int]      						= np.array(__UpperCamelCase )
				a__	:							int      						= np.array(__UpperCamelCase )
				return np.linalg.norm(a - b )






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase )	->						Optional[int]:
				# integer division by time variable
				return consistent_heuristic(__UpperCamelCase	,				__UpperCamelCase ) // t






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase )	->						Dict:
				# manhattan distance
				return abs(p[0] - goal[0] ) + abs(p[1] - goal[1] )






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase )	->						Any:
				a__	:							int      						= g_function[start] + Wa * heuristics[i](__UpperCamelCase	,				__UpperCamelCase )
				return ans






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase )	->						Dict:
				a__	:							Union[str, Any]      						= np.chararray((n, n) )
				for i in range(__UpperCamelCase ):
								for j in range(__UpperCamelCase ):
												a__	:							Dict      						= "*"

				for i in range(__UpperCamelCase ):
								for j in range(__UpperCamelCase ):
												if (j, (n - 1) - i) in blocks:
																a__	:							Dict      						= "#"

				a__	:							Union[str, Any]      						= "-"
				a__	:							int      						= back_pointer[goal]
				while x != start:
								((a__)						,   (a__))	:							List[Any]      						= x
								# print(x)
								a__	:							List[str]      						= "-"
								a__	:							Optional[Any]      						= back_pointer[x]
				a__	:							Tuple      						= "-"

				for i in range(__UpperCamelCase ):
								for j in range(__UpperCamelCase ):
												if (i, j) == (0, n - 1):
																print(grid[i][j]	,				end=" " )
																print("<-- End position"	,				end=" " )
												else:
																print(grid[i][j]	,				end=" " )
								print()
				print("^" )
				print("Start position" )
				print()
				print("# is an obstacle" )
				print("- is the path taken by algorithm" )
				print("PATH TAKEN BY THE ALGORITHM IS:-" )
				a__	:							int      						= back_pointer[goal]
				while x != start:
								print(__UpperCamelCase	,				end=" " )
								a__	:							Any      						= back_pointer[x]
				print(__UpperCamelCase )
				sys.exit()






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase )	->						Tuple:
				if p[0] < 0 or p[0] > n - 1:
								return False
				if p[1] < 0 or p[1] > n - 1:
								return False
				return True






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				)	->						Optional[int]:
				for itera in range(__UpperCamelCase ):
								open_list[itera].remove_element(__UpperCamelCase )
				# print("s", s)
				# print("j", j)
				((a__)						,   (a__))	:							Dict      						= s
				a__	:							List[str]      						= (x - 1, y)
				a__	:							str      						= (x + 1, y)
				a__	:							Any      						= (x, y + 1)
				a__	:							Union[str, Any]      						= (x, y - 1)

				for neighbours in [left, right, up, down]:
								if neighbours not in blocks:
												if valid(__UpperCamelCase ) and neighbours not in visited:
																# print("neighbour", neighbours)
																visited.add(__UpperCamelCase )
																a__	:							Optional[int]      						= -1
																a__	:							Optional[int]      						= float("inf" )

												if valid(__UpperCamelCase ) and g_function[neighbours] > g_function[s] + 1:
																a__	:							Tuple      						= g_function[s] + 1
																a__	:							List[str]      						= s
																if neighbours not in close_list_anchor:
																				open_list[0].put(__UpperCamelCase	,				key(__UpperCamelCase	,				0	,				__UpperCamelCase	,				__UpperCamelCase ) )
																				if neighbours not in close_list_inad:
																								for var in range(1	,				__UpperCamelCase ):
																												if key(__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase ) <= Wa * key(
																												    __UpperCamelCase	,				0	,				__UpperCamelCase	,				__UpperCamelCase ):
																																open_list[j].put(
																																    __UpperCamelCase	,				key(__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase ) )






def     SCREAMING_SNAKE_CASE(      )	->						List[str]:
				a__	:							str      						= []
				for x in range(1	,				5 ):
								for y in range(1	,				6 ):
												some_list.append((x, y) )

				for x in range(15	,				20 ):
								some_list.append((x, 17) )

				for x in range(10	,				19 ):
								for y in range(1	,				15 ):
												some_list.append((x, y) )

    # L block
				for x in range(1	,				4 ):
								for y in range(12	,				19 ):
												some_list.append((x, y) )
				for x in range(3	,				13 ):
								for y in range(16	,				19 ):
												some_list.append((x, y) )
				return some_list


lowerCamelCase		       =      {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

lowerCamelCase		       =      [
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
lowerCamelCase		       =      make_common_ground()


lowerCamelCase		       =      blocks_blk
# hyper parameters
lowerCamelCase		       =      1
lowerCamelCase		       =      1
lowerCamelCase		       =      20
lowerCamelCase		       =      3  # one consistent and two other inconsistent

# start and end destination
lowerCamelCase		       =      (0, 0)
lowerCamelCase		       =      (n - 1, n - 1)

lowerCamelCase		       =      1






def     SCREAMING_SNAKE_CASE(      __UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase )	->						Tuple:
				a__	:							Optional[Any]      						= {start: 0, goal: float("inf" )}
				a__	:							int      						= {start: -1, goal: -1}
				a__	:							Optional[int]      						= []
				a__	:							List[Any]      						= set()

				for i in range(__UpperCamelCase ):
								open_list.append(PriorityQueue() )
								open_list[i].put(__UpperCamelCase	,				key(__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase ) )

				a__	:							list[int]      						= []
				a__	:							list[int]      						= []
				while open_list[0].minkey() < float("inf" ):
								for i in range(1	,				__UpperCamelCase ):
												# print(open_list[0].minkey(), open_list[i].minkey())
												if open_list[i].minkey() <= Wa * open_list[0].minkey():
																global t
																t += 1
																if g_function[goal] <= open_list[i].minkey():
																				if g_function[goal] < float("inf" ):
																								do_something(__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase )
																else:
																				a__						,   a__	:							Optional[int]      						= open_list[i].top_show()
																				visited.add(__UpperCamelCase )
																				expand_state(
																				    __UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				)
																				close_list_inad.append(__UpperCamelCase )
												else:
																if g_function[goal] <= open_list[0].minkey():
																				if g_function[goal] < float("inf" ):
																								do_something(__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase )
																else:
																				a__	:							Union[str, Any]      						= open_list[0].top_show()
																				visited.add(__UpperCamelCase )
																				expand_state(
																				    __UpperCamelCase	,				0	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				__UpperCamelCase	,				)
																				close_list_anchor.append(__UpperCamelCase )
				print("No path found to goal" )
				print()
				for i in range(n - 1	,				-1	,				-1 ):
								for j in range(__UpperCamelCase ):
												if (j, i) in blocks:
																print("#"	,				end=" " )
												elif (j, i) in back_pointer:
																if (j, i) == (n - 1, n - 1):
																				print("*"	,				end=" " )
																else:
																				print("-"	,				end=" " )
												else:
																print("*"	,				end=" " )
												if (j, i) == (n - 1, n - 1):
																print("<-- End position"	,				end=" " )
								print()
				print("^" )
				print("Start position" )
				print()
				print("# is an obstacle" )
				print("- is the path taken by algorithm" )


if __name__ == "__main__":
						multi_a_star(start, goal, n_heuristic)







from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_torch_available


lowerCamelCase		       =      {
    """configuration_instructblip""": [
        """INSTRUCTBLIP_PRETRAINED_CONFIG_ARCHIVE_MAP""",
        """InstructBlipConfig""",
        """InstructBlipQFormerConfig""",
        """InstructBlipVisionConfig""",
    ],
    """processing_instructblip""": ["""InstructBlipProcessor"""],
}

try:
						if not is_torch_available():
												raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
						pass
else:
						lowerCamelCase		       =      [
						    """INSTRUCTBLIP_PRETRAINED_MODEL_ARCHIVE_LIST""",
						    """InstructBlipQFormerModel""",
						    """InstructBlipPreTrainedModel""",
						    """InstructBlipForConditionalGeneration""",
						    """InstructBlipVisionModel""",
						]

if TYPE_CHECKING:
						from .configuration_instructblip import (
						    INSTRUCTBLIP_PRETRAINED_CONFIG_ARCHIVE_MAP,
						    InstructBlipConfig,
						    InstructBlipQFormerConfig,
						    InstructBlipVisionConfig,
						)
						from .processing_instructblip import InstructBlipProcessor

						try:
												if not is_torch_available():
																		raise OptionalDependencyNotAvailable()
						except OptionalDependencyNotAvailable:
												pass
						else:
												from .modeling_instructblip import (
												    INSTRUCTBLIP_PRETRAINED_MODEL_ARCHIVE_LIST,
												    InstructBlipForConditionalGeneration,
												    InstructBlipPreTrainedModel,
												    InstructBlipQFormerModel,
												    InstructBlipVisionModel,
												)

else:
						import sys

						lowerCamelCase		       =      _LazyModule(__name__, globals()["""__file__"""], _import_structure, module_spec=__spec__)


