





import heapq
import sys

import numpy as np

SCREAMING_SNAKE_CASE_   :      Optional[Any]			=   tuple[int, int]

class 		snake_case_   :







	'''simple docstring'''




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

			'''simple docstring'''




			__lowercase											=     []
			__lowercase											=     set()




	def    UpperCAmelCase			(						self							:     Any   )       -> Tuple:

			'''simple docstring'''




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




	def    UpperCAmelCase			(						self							:     Any   )       -> Optional[int]:

			'''simple docstring'''




			return len(self.elements   ) == 0




	def    UpperCAmelCase			(						self							:     Optional[int]					,      __lowerCamelCase							:     str					,      __lowerCamelCase							:     Any   )       -> Optional[Any]:

			'''simple docstring'''




			if item not in self.set:
					heapq.heappush(self.elements					,      (priority, item)   )
					self.set.add(__lowerCamelCase   )
			else:
					# update
					# print("update", item)
					__lowercase											=     []
					((__lowercase)						,      (__lowercase))											=     heapq.heappop(self.elements   )
					while x != item:
							temp.append((pri, x)   )
							((__lowercase)						,      (__lowercase))											=     heapq.heappop(self.elements   )
					temp.append((priority, item)   )
					for pro, xxx in temp:
							heapq.heappush(self.elements					,      (pro, xxx)   )




	def    UpperCAmelCase			(						self							:     List[Any]					,      __lowerCamelCase							:     Dict   )       -> Any:

			'''simple docstring'''




			if item in self.set:
					self.set.remove(__lowerCamelCase   )
					__lowercase											=     []
					((__lowercase)						,      (__lowercase))											=     heapq.heappop(self.elements   )
					while x != item:
							temp.append((pro, x)   )
							((__lowercase)						,      (__lowercase))											=     heapq.heappop(self.elements   )
					for prito, yyy in temp:
							heapq.heappush(self.elements					,      (prito, yyy)   )




	def    UpperCAmelCase			(						self							:     List[str]   )       -> Dict:

			'''simple docstring'''




			return self.elements[0][1]






	def    UpperCAmelCase			(						self							:     Union[str, Any]   )       -> Union[str, Any]:

			'''simple docstring'''




			((__lowercase)						,      (__lowercase))											=     heapq.heappop(self.elements   )
			self.set.remove(__lowerCamelCase   )
			return (priority, item)





def  SCREAMING_SNAKE_CASE				(      snake_case						,   snake_case							)		->    Union[str, Any]:
		# euclidean distance
		__lowercase											=     np.array(snake_case							)
		__lowercase											=     np.array(snake_case							)
		return np.linalg.norm(a - b							)



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



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



def  SCREAMING_SNAKE_CASE				(      snake_case						,   snake_case						,   snake_case						,   snake_case							)		->    List[str]:
		__lowercase											=     g_function[start] + Wa * heuristics[i](snake_case						,   snake_case							)
		return ans



def  SCREAMING_SNAKE_CASE				(      snake_case						,   snake_case						,   snake_case							)		->    int:
		__lowercase											=     np.chararray((n, n)							)
		for i in range(snake_case							):
				for j in range(snake_case							):
						__lowercase											=     '*'

		for i in range(snake_case							):
				for j in range(snake_case							):
						if (j, (n - 1) - i) in blocks:
								__lowercase											=     '#'

		__lowercase											=     '-'
		__lowercase											=     back_pointer[goal]
		while x != start:
				((__lowercase)						,      (__lowercase))											=     x
				# print(x)
				__lowercase											=     '-'
				__lowercase											=     back_pointer[x]
		__lowercase											=     '-'

		for i in range(snake_case							):
				for j in range(snake_case							):
						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:-'							)
		__lowercase											=     back_pointer[goal]
		while x != start:
				print(snake_case						,   end=' '							)
				__lowercase											=     back_pointer[x]
		print(snake_case							)
		sys.exit()



def  SCREAMING_SNAKE_CASE				(      snake_case							)		->    Any:
		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				(      snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   )		->    List[str]:
		for itera in range(snake_case							):
				open_list[itera].remove_element(snake_case							)
		# print("s", s)
		# print("j", j)
		((__lowercase)						,      (__lowercase))											=     s
		__lowercase											=     (x - 1, y)
		__lowercase											=     (x + 1, y)
		__lowercase											=     (x, y + 1)
		__lowercase											=     (x, y - 1)

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

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



def  SCREAMING_SNAKE_CASE				(      )		->    str:
		__lowercase											=     []
		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


SCREAMING_SNAKE_CASE_   :      Tuple			=   {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

SCREAMING_SNAKE_CASE_   :      List[Any]			=   [
    (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),
]
SCREAMING_SNAKE_CASE_   :      Tuple			=   make_common_ground()


SCREAMING_SNAKE_CASE_   :      List[str]			=   blocks_blk
# hyper parameters
SCREAMING_SNAKE_CASE_   :      Optional[Any]			=   1
SCREAMING_SNAKE_CASE_   :      Dict			=   1
SCREAMING_SNAKE_CASE_   :      Optional[int]			=   20
SCREAMING_SNAKE_CASE_   :      Any			=   3  # one consistent and two other inconsistent

# start and end destination
SCREAMING_SNAKE_CASE_   :      str			=   (0, 0)
SCREAMING_SNAKE_CASE_   :      Optional[int]			=   (n - 1, n - 1)

SCREAMING_SNAKE_CASE_   :      List[str]			=   1



def  SCREAMING_SNAKE_CASE				(      snake_case						,   snake_case						,   snake_case							)		->    List[str]:
		__lowercase											=     {start: 0, goal: float('inf'							)}
		__lowercase											=     {start: -1, goal: -1}
		__lowercase											=     []
		__lowercase											=     set()

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

		__lowercase											=     []
		__lowercase											=     []
		while open_list[0].minkey() < float('inf'							):
				for i in range(1						,   snake_case							):
						# 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(snake_case						,   snake_case						,   snake_case							)
								else:
										__lowercase						,      __lowercase											=     open_list[i].top_show()
										visited.add(snake_case							)
										expand_state(
										    snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   )
										close_list_inad.append(snake_case							)
						else:
								if g_function[goal] <= open_list[0].minkey():
										if g_function[goal] < float('inf'							):
												do_something(snake_case						,   snake_case						,   snake_case							)
								else:
										__lowercase											=     open_list[0].top_show()
										visited.add(snake_case							)
										expand_state(
										    snake_case						,   0						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   snake_case						,   )
										close_list_anchor.append(snake_case							)
		print('No path found to goal'							)
		print()
		for i in range(n - 1						,   -1						,   -1							):
				for j in range(snake_case							):
						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)











SCREAMING_SNAKE_CASE_   :      dict[str, float]			=   {
    "joule": 1.0,
    "kilojoule": 1000,
    "megajoule": 100_0000,
    "gigajoule": 10_0000_0000,
    "wattsecond": 1.0,
    "watthour": 3600,
    "kilowatthour": 360_0000,
    "newtonmeter": 1.0,
    "calorie_nutr": 4186.8,
    "kilocalorie_nutr": 418_6800.00,
    "electronvolt": 1.6_0_2_1_7_6_6_3_4e-1_9,
    "britishthermalunit_it": 1055.0_5585,
    "footpound": 1.35_5818,
}



def  SCREAMING_SNAKE_CASE				(      snake_case						,   snake_case						,   snake_case							)		->    float:
		if to_type not in ENERGY_CONVERSION or from_type not in ENERGY_CONVERSION:
				__lowercase											=     (
				    F"Incorrect 'from_type' or 'to_type' value: {from_type!r}, {to_type!r}\n"
				    F"Valid values are: {', '.join(snake_case							)}"
				)
				raise ValueError(snake_case							)
		return value * ENERGY_CONVERSION[from_type] / ENERGY_CONVERSION[to_type]


if __name__ == "__main__":
		import doctest

		doctest.testmod()




