






from __future__ import annotations

a						:			Optional[int]     	=					list[tuple[int, int]]

a						:			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],
]

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



      """simple docstring"""


      def __init__( self   :     Optional[int]						, __lowercase   :     int						, __lowercase   :     int						, __lowercase   :     int						, __lowercase   :     int						, __lowercase   :     float						, __lowercase   :     Node | None						, )				-> List[str]:
        __UpperCAmelCase				:      Dict	 =    pos_x
        __UpperCAmelCase				:      Optional[int]	 =    pos_y
        __UpperCAmelCase				:      str	 =    (pos_y, pos_x)
        __UpperCAmelCase				:      Dict	 =    goal_x
        __UpperCAmelCase				:      List[Any]	 =    goal_y
        __UpperCAmelCase				:      List[Any]	 =    g_cost
        __UpperCAmelCase				:      List[Any]	 =    parent
        __UpperCAmelCase				:      List[Any]	 =    self.calculate_heuristic()
      def       UpperCAmelCase ( self   :     str   )				-> float:
        __UpperCAmelCase				:      Tuple	 =    abs(self.pos_x - self.goal_x   )
        __UpperCAmelCase				:      Optional[int]	 =    abs(self.pos_y - self.goal_y   )
        return dx + dy




      def __lt__( self   :     Optional[int]						, __lowercase   :     List[Any]   )				-> bool:
        return self.f_cost < other.f_cost


class        a       :



      """simple docstring"""


      def __init__( self   :     List[str]						, __lowercase   :     tuple[int, int]						, __lowercase   :     tuple[int, int]   )				-> Optional[int]:
        __UpperCAmelCase				:      Dict	 =    Node(start[1]						, start[0]						, goal[1]						, goal[0]						, 0						, __lowercase   )
        __UpperCAmelCase				:      List[Any]	 =    Node(goal[1]						, goal[0]						, goal[1]						, goal[0]						, 99999						, __lowercase   )

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

        __UpperCAmelCase				:      List[Any]	 =    False
      def       UpperCAmelCase ( self   :     Any   )				-> Path | None:
        while self.open_nodes:
          # Open Nodes are sorted using __lt__
          self.open_nodes.sort()
          __UpperCAmelCase				:      Dict	 =    self.open_nodes.pop(0   )

          if current_node.pos == self.target.pos:
            __UpperCAmelCase				:      List[str]	 =    True
            return self.retrace_path(__lowercase   )

          self.closed_nodes.append(__lowercase   )
          __UpperCAmelCase				:      List[Any]	 =    self.get_successors(__lowercase   )

          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(__lowercase   )
            else:
              # retrieve the best current path
              __UpperCAmelCase				:      str	 =    self.open_nodes.pop(self.open_nodes.index(__lowercase   )   )

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

        if not self.reached:
          return [self.start.pos]
        return None
      def       UpperCAmelCase ( self   :     Dict						, __lowercase   :     Node   )				-> list[Node]:
        __UpperCAmelCase				:      List[Any]	 =    []
        for action in delta:
          __UpperCAmelCase				:      str	 =    parent.pos_x + action[1]
          __UpperCAmelCase				:      Dict	 =    parent.pos_y + action[0]

          if not (0 <= pos_x <= len(grid[0]   ) - 1 and 0 <= pos_y <= len(__lowercase   ) - 1):
            continue

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

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




      def       UpperCAmelCase ( self   :     Optional[int]						, __lowercase   :     Node | None   )				-> Path:
        __UpperCAmelCase				:      Optional[Any]	 =    node
        __UpperCAmelCase				:      Optional[Any]	 =    []
        while current_node is not None:
          path.append((current_node.pos_y, current_node.pos_x)   )
          __UpperCAmelCase				:      Any	 =    current_node.parent
        path.reverse()
        return path


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

       print("------")

       a						:			Union[str, Any]     	=					GreedyBestFirst(init, goal)
       a						:			Optional[Any]     	=					greedy_bf.search()
       if path:
              for pos_x, pos_y in path:
                     a						:			Union[str, Any]     	=					2

              for elem in grid:
                     print(elem)







from manim import *






class     __a			(  SCREAMING_SNAKE_CASE					):



	def 		UpperCamelCase				(    self				:     Tuple)->				Dict:
						__lowerCAmelCase						 =Rectangle(height=0.5					,						width=0.5)
						__lowerCAmelCase						 =Rectangle(height=0.4_6					,						width=0.4_6).set_stroke(width=0)

						__lowerCAmelCase						 =[mem.copy() for i in range(6)]
						__lowerCAmelCase						 =[mem.copy() for i in range(6)]
						__lowerCAmelCase						 =VGroup(*snake_case_).arrange(snake_case_					,						buff=0)
						__lowerCAmelCase						 =VGroup(*snake_case_).arrange(snake_case_					,						buff=0)
						__lowerCAmelCase						 =VGroup(snake_case_					,						snake_case_).arrange(snake_case_					,						buff=0)
						__lowerCAmelCase						 =Text("""CPU"""					,						font_size=24)
						__lowerCAmelCase						 =Group(snake_case_					,						snake_case_).arrange(snake_case_					,						buff=0.5					,						aligned_edge=snake_case_)
						cpu.move_to([-2.5, -0.5, 0])
						self.add(snake_case_)

						__lowerCAmelCase						 =[mem.copy() for i in range(1)]
						__lowerCAmelCase						 =VGroup(*snake_case_).arrange(snake_case_					,						buff=0)
						__lowerCAmelCase						 =Text("""GPU"""					,						font_size=24)
						__lowerCAmelCase						 =Group(snake_case_					,						snake_case_).arrange(snake_case_					,						buff=0.5					,						aligned_edge=snake_case_)
						gpu.align_to(snake_case_					,						snake_case_)
						gpu.set_x(gpu.get_x() - 1)

						self.add(snake_case_)

						__lowerCAmelCase						 =[mem.copy() for i in range(6)]
						__lowerCAmelCase						 =VGroup(*snake_case_).arrange(snake_case_					,						buff=0)

						__lowerCAmelCase						 =Text("""Model"""					,						font_size=24)
						__lowerCAmelCase						 =Group(snake_case_					,						snake_case_).arrange(snake_case_					,						buff=0.5					,						aligned_edge=snake_case_)
						model.move_to([3, -1.0, 0])

						self.play(
						    Create(snake_case_					,						run_time=1)					,						Create(snake_case_					,						run_time=1)					,						Create(snake_case_					,						run_time=1)					,						)

						__lowerCAmelCase						 =MarkupText(
						    F"""First, an empty model skeleton is loaded\ninto <span fgcolor='{YELLOW}'>memory</span> without using much RAM."""					,						font_size=24					,						)

						__lowerCAmelCase						 =Square(side_length=2.2)
						key.move_to([-5, 2, 0])

						__lowerCAmelCase						 =MarkupText(
						    F"""<b>Key:</b>\n\n<span fgcolor='{YELLOW}'>●</span> Empty Model"""					,						font_size=18					,						)

						key_text.move_to([-5, 2.4, 0])

						step_a.move_to([2, 2, 0])
						self.play(Write(snake_case_					,						run_time=2.5)					,						Write(snake_case_)					,						Write(snake_case_))

						self.add(snake_case_)

						__lowerCAmelCase						 =[]
						__lowerCAmelCase						 =[]
						__lowerCAmelCase						 =[]
						for i, rect in enumerate(snake_case_):
											__lowerCAmelCase						 =Rectangle(height=0.4_6					,						width=0.4_6).set_stroke(width=0.0).set_fill(snake_case_					,						opacity=0.7)
											cpu_target.move_to(snake_case_)
											cpu_target.generate_target()
											__lowerCAmelCase						 =0.4_6 / 4
											__lowerCAmelCase						 =0.4_6 / 3

											if i == 0:
																cpu_target.target.next_to(cpu_left_col_base[0].get_corner(DOWN + LEFT)					,						buff=0.0_2					,						direction=snake_case_)
																cpu_target.target.set_x(cpu_target.target.get_x() + 0.1)
											elif i == 3:
																cpu_target.target.next_to(cpu_targs[0].target					,						direction=snake_case_					,						buff=0.0)
											else:
																cpu_target.target.next_to(cpu_targs[i - 1].target					,						direction=snake_case_					,						buff=0.0)
											cpu_targs.append(snake_case_)

											first_animations.append(rect.animate(run_time=0.5).set_stroke(snake_case_))
											second_animations.append(MoveToTarget(snake_case_					,						run_time=1.5))

						self.play(*snake_case_)
						self.play(*snake_case_)

						self.wait()




