




from __future__ import annotations

lowercase__							:	Tuple											=		list[tuple[int, int]]

lowercase__							:	Optional[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],
]

lowercase__							:	Any											=		([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right
class 						UpperCAmelCase  :







						'''simple docstring'''





						def __init__(		self				:	Tuple			,      __lowercase				:	int			,      __lowercase				:	int			,      __lowercase				:	int			,      __lowercase				:	int			,      __lowercase				:	float			,      __lowercase				:	Node | None			,      ):






							"""simple docstring"""






							snake_case_						       =	pos_x
							snake_case_						       =	pos_y
							snake_case_						       =	(pos_y, pos_x)
							snake_case_						       =	goal_x
							snake_case_						       =	goal_y
							snake_case_						       =	g_cost
							snake_case_						       =	parent
							snake_case_						       =	self.calculate_heuristic()






						def 			snake_case__		(		self				:	Any		):






							"""simple docstring"""






							snake_case_						       =	abs(self.pos_x - self.goal_x		)
							snake_case_						       =	abs(self.pos_y - self.goal_y		)
							return dx + dy






						def __lt__(		self				:	Optional[Any]			,      __lowercase				:	Union[str, Any]		):






							"""simple docstring"""






							return self.f_cost < other.f_cost







class 						UpperCAmelCase  :







						'''simple docstring'''





						def __init__(		self				:	Dict			,      __lowercase				:	tuple[int, int]			,      __lowercase				:	tuple[int, int]		):






							"""simple docstring"""






							snake_case_						       =	Node(start[1]			,      start[0]			,      goal[1]			,      goal[0]			,      0			,      __lowercase		)
							snake_case_						       =	Node(goal[1]			,      goal[0]			,      goal[1]			,      goal[0]			,      9_99_99			,      __lowercase		)

							snake_case_						       =	[self.start]
							snake_case_						       =	[]

							snake_case_						       =	False






						def 			snake_case__		(		self				:	Optional[int]		):






							"""simple docstring"""






							while self.open_nodes:
								# Open Nodes are sorted using __lt__
								self.open_nodes.sort()
								snake_case_						       =	self.open_nodes.pop(0		)

								if current_node.pos == self.target.pos:
									snake_case_						       =	True
									return self.retrace_path(__lowercase		)

								self.closed_nodes.append(__lowercase		)
								snake_case_						       =	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
										snake_case_						       =	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 			snake_case__		(		self				:	int			,      __lowercase				:	Node		):






							"""simple docstring"""






							snake_case_						       =	[]
							for action in delta:
								snake_case_						       =	parent.pos_x + action[1]
								snake_case_						       =	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 			snake_case__		(		self				:	int			,      __lowercase				:	Node | None		):






							"""simple docstring"""






							snake_case_						       =	node
							snake_case_						       =	[]
							while current_node is not None:
								path.append((current_node.pos_y, current_node.pos_x)		)
								snake_case_						       =	current_node.parent
							path.reverse()
							return path


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

		print("------")

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

				for elem in grid:
						print(elem)






def 		lowerCamelCase__       (						_A	,      _A				):







	'''simple docstring'''





	_validate_point(_A				)
	_validate_point(_A				)
	if len(_A				) != len(_A				):
		raise ValueError("Both points must be in the same n-dimensional space"				)

	return float(sum(abs(a - b				) for a, b in zip(_A	,      _A				)				)				)


def 		lowerCamelCase__       (						_A				):







	'''simple docstring'''





	if point:
		if isinstance(_A	,      _A				):
			for item in point:
				if not isinstance(_A	,      (int, float)				):
					snake_case_						       =	(
					    "Expected a list of numbers as input, found "
					    f"{type(_A				).__name__}"
					)
					raise TypeError(_A				)
		else:
			snake_case_						       =	f"Expected a list of numbers as input, found {type(_A				).__name__}"
			raise TypeError(_A				)
	else:
		raise ValueError("Missing an input"				)


def 		lowerCamelCase__       (						_A	,      _A				):







	'''simple docstring'''





	_validate_point(_A				)
	_validate_point(_A				)
	if len(_A				) != len(_A				):
		raise ValueError("Both points must be in the same n-dimensional space"				)

	return float(sum(abs(x - y				) for x, y in zip(_A	,      _A				)				)				)


if __name__ == "__main__":
		import doctest

		doctest.testmod()
