


"""simple docstring"""






from __future__ import annotations

UpperCamelCase__				:Any			   =	list[tuple[int, int]]

UpperCamelCase__				: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],
]

UpperCamelCase__				:int			   =	([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right






class      A:

		"""simple docstring"""





		def __init__( self					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__					,				)      ->	List[str]:

					"""simple docstring"""



					_UpperCamelCase					:Optional[int]					     =	pos_x
					_UpperCamelCase					:Dict					     =	pos_y
					_UpperCamelCase					:Optional[int]					     =	(pos_y, pos_x)
					_UpperCamelCase					:List[str]					     =	goal_x
					_UpperCamelCase					:Optional[int]					     =	goal_y
					_UpperCamelCase					:Union[str, Any]					     =	g_cost
					_UpperCamelCase					:Any					     =	parent
					_UpperCamelCase					:Optional[int]					     =	self.calculate_heuristic()
		def   _UpperCamelCase( self   )      ->	float:

					"""simple docstring"""



					_UpperCamelCase					:Dict					     =	abs(self.pos_x - self.goal_x   )
					_UpperCamelCase					:Optional[Any]					     =	abs(self.pos_y - self.goal_y   )
					return dx + dy





		def __lt__( self					,				SCREAMING_SNAKE_CASE__   )      ->	bool:

					"""simple docstring"""



					return self.f_cost < other.f_cost






class      A:

		"""simple docstring"""





		def __init__( self					,				SCREAMING_SNAKE_CASE__					,				SCREAMING_SNAKE_CASE__   )      ->	List[Any]:

					"""simple docstring"""



					_UpperCamelCase					:List[str]					     =	Node(start[1]					,				start[0]					,				goal[1]					,				goal[0]					,				0					,				SCREAMING_SNAKE_CASE__   )
					_UpperCamelCase					:List[str]					     =	Node(goal[1]					,				goal[0]					,				goal[1]					,				goal[0]					,				9_99_99					,				SCREAMING_SNAKE_CASE__   )

					_UpperCamelCase					:str					     =	[self.start]
					_UpperCamelCase					:list[Node]					     =	[]

					_UpperCamelCase					:Optional[int]					     =	False
		def   _UpperCamelCase( self   )      ->	Path | None:

					"""simple docstring"""



					while self.open_nodes:
								# Open Nodes are sorted using __lt__
								self.open_nodes.sort()
								_UpperCamelCase					:Optional[int]					     =	self.open_nodes.pop(0   )

								if current_node.pos == self.target.pos:
											_UpperCamelCase					:Optional[int]					     =	True
											return self.retrace_path(SCREAMING_SNAKE_CASE__   )

								self.closed_nodes.append(SCREAMING_SNAKE_CASE__   )
								_UpperCamelCase					:Union[str, Any]					     =	self.get_successors(SCREAMING_SNAKE_CASE__   )

								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(SCREAMING_SNAKE_CASE__   )
											else:
														# retrieve the best current path
														_UpperCamelCase					:Any					     =	self.open_nodes.pop(self.open_nodes.index(SCREAMING_SNAKE_CASE__   )   )

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

					if not self.reached:
								return [self.start.pos]
					return None
		def   _UpperCamelCase( self					,				SCREAMING_SNAKE_CASE__   )      ->	list[Node]:

					"""simple docstring"""



					_UpperCamelCase					:List[Any]					     =	[]
					for action in delta:
								_UpperCamelCase					:int					     =	parent.pos_x + action[1]
								_UpperCamelCase					:List[str]					     =	parent.pos_y + action[0]

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

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

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





		def   _UpperCamelCase( self					,				SCREAMING_SNAKE_CASE__   )      ->	Path:

					"""simple docstring"""



					_UpperCamelCase					:List[Any]					     =	node
					_UpperCamelCase					:Dict					     =	[]
					while current_node is not None:
								path.append((current_node.pos_y, current_node.pos_x)   )
								_UpperCamelCase					:Tuple					     =	current_node.parent
					path.reverse()
					return path


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

					print("""------""")

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

										for elem in grid:
															print(elem)





"""simple docstring"""






from __future__ import annotations

from math import pi
from typing import Protocol

import matplotlib.pyplot as plt
import numpy as np






class      A(  lowerCamelCase__		):

		"""simple docstring"""





		def   _UpperCamelCase( self					,				SCREAMING_SNAKE_CASE__   )      ->	float:

					"""simple docstring"""



					return 0.0





def 				A_       ( snake_case__       ,					snake_case__		)					->  tuple[int | float, int | float]:
			_UpperCamelCase					:Union[str, Any]					     =	min([-20, np.min(fft_results[1 : samplerate // 2 - 1]		)]		)
			_UpperCamelCase					:Optional[int]					     =	max([20, np.max(fft_results[1 : samplerate // 2 - 1]		)]		)
			return lowest, highest





def 				A_       ( snake_case__       ,					snake_case__		)					->  None:
			_UpperCamelCase					:List[str]					     =	5_12
			_UpperCamelCase					:int					     =	[1] + [0] * (size - 1)
			_UpperCamelCase					:Union[str, Any]					     =	[filter_type.process(snake_case__		) for item in inputs]

			_UpperCamelCase					:Any					     =	[0] * (samplerate - size)  # zero-padding
			outputs += filler
			_UpperCamelCase					:int					     =	np.abs(np.fft.fft(snake_case__		)		)
			_UpperCamelCase					:str					     =	20 * np.logaa(snake_case__		)

			# Frequencies on log scale from 24 to nyquist frequency
			plt.xlim(24       ,					samplerate / 2 - 1		)
			plt.xlabel('''Frequency (Hz)'''		)
			plt.xscale('''log'''		)

			# Display within reasonable bounds
			_UpperCamelCase					:Tuple					     =	get_bounds(snake_case__       ,					snake_case__		)
			plt.ylim(max([-80, bounds[0]]		)       ,					min([80, bounds[1]]		)		)
			plt.ylabel('''Gain (dB)'''		)

			plt.plot(snake_case__		)
			plt.show()





def 				A_       ( snake_case__       ,					snake_case__		)					->  None:
			_UpperCamelCase					:Tuple					     =	5_12
			_UpperCamelCase					:Union[str, Any]					     =	[1] + [0] * (size - 1)
			_UpperCamelCase					:List[Any]					     =	[filter_type.process(snake_case__		) for item in inputs]

			_UpperCamelCase					:str					     =	[0] * (samplerate - size)  # zero-padding
			outputs += filler
			_UpperCamelCase					:Tuple					     =	np.angle(np.fft.fft(snake_case__		)		)

			# Frequencies on log scale from 24 to nyquist frequency
			plt.xlim(24       ,					samplerate / 2 - 1		)
			plt.xlabel('''Frequency (Hz)'''		)
			plt.xscale('''log'''		)

			plt.ylim(-2 * pi       ,					2 * pi		)
			plt.ylabel('''Phase shift (Radians)'''		)
			plt.plot(np.unwrap(snake_case__       ,					-2 * pi		)		)
			plt.show()

