
import heapq
import sys

import numpy as np

__a         =   tuple[int, int]
class 					lowercase__:



	"""simple docstring"""




	def __init__(			self    :     Union[str, Any]			)			->	Any:
					lowercase_	    =   []
					lowercase_	    =   set()
	def 		_lowercase    (			self    :     Dict			)			->	Tuple:
					if not self.empty():
									return self.elements[0][0]
					else:
									return float('''inf'''			)
	def 		_lowercase    (			self    :     int			)			->	Any:
					return len(self.elements			) == 0
	def 		_lowercase    (			self    :     List[Any]			,				SCREAMING_SNAKE_CASE_    :     Dict			,				SCREAMING_SNAKE_CASE_    :     str			)			->	str:
					if item not in self.set:
									heapq.heappush(self.elements			,				(priority, item)			)
									self.set.add(SCREAMING_SNAKE_CASE_			)
					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 		_lowercase    (			self    :     Any			,				SCREAMING_SNAKE_CASE_    :     List[Any]			)			->	Optional[Any]:
					if item in self.set:
									self.set.remove(SCREAMING_SNAKE_CASE_			)
									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 		_lowercase    (			self    :     Any			)			->	Optional[int]:
					return self.elements[0][1]




	def 		_lowercase    (			self    :     Tuple			)			->	str:
					((lowercase_)    ,      (lowercase_))	    =   heapq.heappop(self.elements			)
					self.set.remove(SCREAMING_SNAKE_CASE_			)
					return (priority, item)




def 							a		(				snake_case__:   TPos		,  snake_case__:   TPos   ):


				'''simple docstring'''
				# euclidean distance
				lowercase_	    =   np.array(snake_case__   )
				lowercase_	    =   np.array(snake_case__   )
				return np.linalg.norm(a - b   )




def 							a		(				snake_case__:   TPos		,  snake_case__:   TPos   ):


				'''simple docstring'''
				# integer division by time variable
				return consistent_heuristic(snake_case__		,  snake_case__   ) // t




def 							a		(				snake_case__:   TPos		,  snake_case__:   TPos   ):


				'''simple docstring'''
				# manhattan distance
				return abs(p[0] - goal[0]   ) + abs(p[1] - goal[1]   )




def 							a		(				snake_case__:   TPos		,  snake_case__:   int		,  snake_case__:   TPos		,  snake_case__:   dict[TPos, float]   ):


				'''simple docstring'''
				lowercase_	    =   g_function[start] + Wa * heuristics[i](snake_case__		,  snake_case__   )
				return ans




def 							a		(				snake_case__:   List[Any]		,  snake_case__:   Dict		,  snake_case__:   List[str]   ):


				'''simple docstring'''
				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 							a		(				snake_case__:   TPos   ):


				'''simple docstring'''
				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 							a		(				snake_case__:   Optional[Any]		,  snake_case__:   List[str]		,  snake_case__:   Dict		,  snake_case__:   str		,  snake_case__:   Dict		,  snake_case__:   Optional[Any]		,  snake_case__:   List[Any]		,  snake_case__:   Optional[int]		,  ):


				'''simple docstring'''
				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 							a		(				):


				'''simple docstring'''
				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


__a         =   {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

__a         =   [
    (0, 1),
    (1, 1),
    (2, 1),
    (3, 1),
    (4, 1),
    (5, 1),
    (6, 1),
    (7, 1),
    (8, 1),
    (9, 1),
    (1_0, 1),
    (1_1, 1),
    (1_2, 1),
    (1_3, 1),
    (1_4, 1),
    (1_5, 1),
    (1_6, 1),
    (1_7, 1),
    (1_8, 1),
    (1_9, 1),
]
__a         =   make_common_ground()


__a         =   blocks_blk
# hyper parameters
__a         =   1
__a         =   1
__a         =   2_0
__a         =   3  # one consistent and two other inconsistent

# start and end destination
__a         =   (0, 0)
__a         =   (n - 1, n - 1)

__a         =   1




def 							a		(				snake_case__:   TPos		,  snake_case__:   TPos		,  snake_case__:   int   ):


				'''simple docstring'''
				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)






__a         =   'ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/'




def 							a		(				snake_case__:   bytes   ):


				'''simple docstring'''
				# Make sure the supplied data is a bytes-like object
				if not isinstance(snake_case__		,  snake_case__   ):
								lowercase_	    =   F'''a bytes-like object is required, not \'{data.__class__.__name__}\''''
								raise TypeError(snake_case__   )

				lowercase_	    =   ''''''.join(bin(snake_case__   )[2:].zfill(8   ) for byte in data   )

				lowercase_	    =   len(snake_case__   ) % 6 != 0

				if padding_needed:
								# The padding that will be added later
								lowercase_	    =   B'''=''' * ((6 - len(snake_case__   ) % 6) // 2)

								# Append binary_stream with arbitrary binary digits (0's by default) to make its
								# length a multiple of 6.
								binary_stream += "0" * (6 - len(snake_case__   ) % 6)
				else:
								lowercase_	    =   B''''''

				# Encode every 6 binary digits to their corresponding Base64 character
				return (
				    "".join(
				        B64_CHARSET[int(binary_stream[index : index + 6]		,  2   )]
				        for index in range(0		,  len(snake_case__   )		,  6   )   ).encode()
				    + padding
				)




def 							a		(				snake_case__:   str   ):


				'''simple docstring'''
				# Make sure encoded_data is either a string or a bytes-like object
				if not isinstance(snake_case__		,  snake_case__   ) and not isinstance(snake_case__		,  snake_case__   ):
								lowercase_	    =   (
								    '''argument should be a bytes-like object or ASCII string, '''
								    F'''not \'{encoded_data.__class__.__name__}\''''
								)
								raise TypeError(snake_case__   )

				# In case encoded_data is a bytes-like object, make sure it contains only
				# ASCII characters so we convert it to a string object
				if isinstance(snake_case__		,  snake_case__   ):
								try:
												lowercase_	    =   encoded_data.decode('''utf-8'''   )
								except UnicodeDecodeError:
												raise ValueError('''base64 encoded data should only contain ASCII characters'''   )

				lowercase_	    =   encoded_data.count('''='''   )

				# Check if the encoded string contains non base64 characters
				if padding:
								assert all(
								    char in B64_CHARSET for char in encoded_data[:-padding]   ), "Invalid base64 character(s) found."
				else:
								assert all(
								    char in B64_CHARSET for char in encoded_data   ), "Invalid base64 character(s) found."

				# Check the padding
				assert len(snake_case__   ) % 4 == 0 and padding < 3, "Incorrect padding"

				if padding:
								# Remove padding if there is one
								lowercase_	    =   encoded_data[:-padding]

								lowercase_	    =   ''''''.join(
								    bin(B64_CHARSET.index(snake_case__   )   )[2:].zfill(6   ) for char in encoded_data   )[: -padding * 2]
				else:
								lowercase_	    =   ''''''.join(
								    bin(B64_CHARSET.index(snake_case__   )   )[2:].zfill(6   ) for char in encoded_data   )

				lowercase_	    =   [
				    int(binary_stream[index : index + 8]		,  2   )
				    for index in range(0		,  len(snake_case__   )		,  8   )
				]

				return bytes(snake_case__   )


if __name__ == "__main__":
						import doctest

						doctest.testmod()




