'''simple docstring'''





import argparse
from collections import defaultdict

import yaml


SCREAMING_SNAKE_CASE_:	List[Any]    ='docs/source/en/_toctree.yml'





def       lowerCAmelCase_							(   snake_case_			:					Dict     )       -> Optional[Any]:


     '''simple docstring'''




     UpperCAmelCase_			       =  defaultdict(snake_case_     )
     UpperCAmelCase_			       =  []
     UpperCAmelCase_			       =  []
     for doc in doc_list:
          if "local" in doc:
               counts[doc["local"]] += 1

          if doc["title"].lower() == "overview":
               overview_doc.append({"local": doc["local"], "title": doc["title"]}     )
          else:
               new_doc_list.append(snake_case_     )

     UpperCAmelCase_			       =  new_doc_list
     UpperCAmelCase_			       =  [key for key, value in counts.items() if value > 1]

     UpperCAmelCase_			       =  []
     for duplicate_key in duplicates:
          UpperCAmelCase_			       =  list({doc["title"] for doc in doc_list if doc["local"] == duplicate_key}     )
          if len(snake_case_     ) > 1:
               raise ValueError(
                   f"""{duplicate_key} is present several times in the documentation table of content at """
                   "`docs/source/en/_toctree.yml` with different *Title* values. Choose one of those and remove the "
                   "others."     )
          # Only add this once
          new_doc.append({"local": duplicate_key, "title": titles[0]}     )

     # Add none duplicate-keys
     new_doc.extend([doc for doc in doc_list if "local" not in counts or counts[doc["local"]] == 1]     )
     UpperCAmelCase_			       =  sorted(snake_case_   ,       key=lambda snake_case_     : s["title"].lower()     )

     # "overview" gets special treatment and is always first
     if len(snake_case_     ) > 1:
          raise ValueError("{doc_list} has two 'overview' docs which is not allowed."     )

     overview_doc.extend(snake_case_     )

     # Sort
     return overview_doc





def       lowerCAmelCase_							(   snake_case_			:					Tuple=False     )       -> Any:


     '''simple docstring'''




     with open(snake_case_   ,       encoding="utf-8"     ) as f:
          UpperCAmelCase_			       =  yaml.safe_load(f.read()     )

     # Get to the API doc
     UpperCAmelCase_			       =  0
     while content[api_idx]["title"] != "API":
          api_idx += 1
     UpperCAmelCase_			       =  content[api_idx]["sections"]

     # Then to the model doc
     UpperCAmelCase_			       =  0
     while api_doc[scheduler_idx]["title"] != "Schedulers":
          scheduler_idx += 1

     UpperCAmelCase_			       =  api_doc[scheduler_idx]["sections"]
     UpperCAmelCase_			       =  clean_doc_toc(snake_case_     )

     UpperCAmelCase_			       =  False
     if new_scheduler_doc != scheduler_doc:
          UpperCAmelCase_			       =  True
          if overwrite:
               UpperCAmelCase_			       =  new_scheduler_doc

     if diff:
          if overwrite:
               UpperCAmelCase_			       =  api_doc
               with open(snake_case_   ,       "w"   ,       encoding="utf-8"     ) as f:
                    f.write(yaml.dump(snake_case_   ,       allow_unicode=snake_case_     )     )
          else:
               raise ValueError(
                   "The model doc part of the table of content is not properly sorted, run `make style` to fix this."     )





def       lowerCAmelCase_							(   snake_case_			:					Optional[int]=False     )       -> List[str]:


     '''simple docstring'''




     with open(snake_case_   ,       encoding="utf-8"     ) as f:
          UpperCAmelCase_			       =  yaml.safe_load(f.read()     )

     # Get to the API doc
     UpperCAmelCase_			       =  0
     while content[api_idx]["title"] != "API":
          api_idx += 1
     UpperCAmelCase_			       =  content[api_idx]["sections"]

     # Then to the model doc
     UpperCAmelCase_			       =  0
     while api_doc[pipeline_idx]["title"] != "Pipelines":
          pipeline_idx += 1

     UpperCAmelCase_			       =  False
     UpperCAmelCase_			       =  api_doc[pipeline_idx]["sections"]
     UpperCAmelCase_			       =  []

     # sort sub pipeline docs
     for pipeline_doc in pipeline_docs:
          if "section" in pipeline_doc:
               UpperCAmelCase_			       =  pipeline_doc["section"]
               UpperCAmelCase_			       =  clean_doc_toc(snake_case_     )
               if overwrite:
                    UpperCAmelCase_			       =  new_sub_pipeline_doc
          new_pipeline_docs.append(snake_case_     )

     # sort overall pipeline doc
     UpperCAmelCase_			       =  clean_doc_toc(snake_case_     )

     if new_pipeline_docs != pipeline_docs:
          UpperCAmelCase_			       =  True
          if overwrite:
               UpperCAmelCase_			       =  new_pipeline_docs

     if diff:
          if overwrite:
               UpperCAmelCase_			       =  api_doc
               with open(snake_case_   ,       "w"   ,       encoding="utf-8"     ) as f:
                    f.write(yaml.dump(snake_case_   ,       allow_unicode=snake_case_     )     )
          else:
               raise ValueError(
                   "The model doc part of the table of content is not properly sorted, run `make style` to fix this."     )


if __name__ == "__main__":
    SCREAMING_SNAKE_CASE_:	List[str]    =argparse.ArgumentParser()
    parser.add_argument('--fix_and_overwrite', action='store_true', help='Whether to fix inconsistencies.')
    SCREAMING_SNAKE_CASE_:	Tuple    =parser.parse_args()

    check_scheduler_doc(args.fix_and_overwrite)
    check_pipeline_doc(args.fix_and_overwrite)









'''simple docstring'''

from __future__ import annotations

a							   =				list[tuple[int, int]]

a							   =				[
    [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							   =				([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right






class 						a_		:


							def __init__(				self   :						Tuple      ,						a_   :						int      ,						a_   :						int      ,						a_   :						int      ,						a_   :						int      ,						a_   :						float      ,						a_   :						Node | None      ,						)			->					Optional[Any]:
										snake_case:    str      							=pos_x
										snake_case:    str      							=pos_y
										snake_case:    Optional[Any]      							=(pos_y, pos_x)
										snake_case:    Union[str, Any]      							=goal_x
										snake_case:    Tuple      							=goal_y
										snake_case:    Tuple      							=g_cost
										snake_case:    Tuple      							=parent
										snake_case:    Optional[Any]      							=self.calculate_heuristic()


							def    UpperCamelCase     (				self   :						Union[str, Any]			)			->					float:
										snake_case:    Optional[Any]      							=abs(self.pos_x - self.goal_x			)
										snake_case:    Optional[int]      							=abs(self.pos_y - self.goal_y			)
										return dx + dy




							def __lt__(				self   :						Union[str, Any]      ,						a_   :						Tuple			)			->					bool:
										return self.f_cost < other.f_cost






class 						a_		:


							def __init__(				self   :						Any      ,						a_   :						tuple[int, int]      ,						a_   :						tuple[int, int]			)			->					Optional[Any]:
										snake_case:    Any      							=Node(start[1]      ,						start[0]      ,						goal[1]      ,						goal[0]      ,						0      ,						a_			)
										snake_case:    str      							=Node(goal[1]      ,						goal[0]      ,						goal[1]      ,						goal[0]      ,						9_9_9_9_9      ,						a_			)

										snake_case:    int      							=[self.start]
										snake_case:    list[Node]      							=[]

										snake_case:    Tuple      							=False


							def    UpperCamelCase     (				self   :						str			)			->					Path | None:
										while self.open_nodes:
													# Open Nodes are sorted using __lt__
													self.open_nodes.sort()
													snake_case:    Tuple      							=self.open_nodes.pop(0			)

													if current_node.pos == self.target.pos:
																snake_case:    Tuple      							=True
																return self.retrace_path(a_			)

													self.closed_nodes.append(a_			)
													snake_case:    Optional[Any]      							=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
																			snake_case:    List[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_			)

										if not self.reached:
													return [self.start.pos]
										return None


							def    UpperCamelCase     (				self   :						str      ,						a_   :						Node			)			->					list[Node]:
										snake_case:    Any      							=[]
										for action in delta:
													snake_case:    Any      							=parent.pos_x + action[1]
													snake_case:    str      							=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   :						Dict      ,						a_   :						Node | None			)			->					Path:
										snake_case:    Dict      							=node
										snake_case:    Optional[int]      							=[]
										while current_node is not None:
													path.append((current_node.pos_y, current_node.pos_x)			)
													snake_case:    List[str]      							=current_node.parent
										path.reverse()
										return path


if __name__ == "__main__":
	a							   =				(0, 0)
	a							   =				(len(grid) - 1, len(grid[0]) - 1)
	for elem in grid:
		print(elem)

	print('------')

	a							   =				GreedyBestFirst(init, goal)
	a							   =				greedy_bf.search()
	if path:
		for pos_x, pos_y in path:
			a							   =				2

		for elem in grid:
			print(elem)




