





from __future__ import annotations

SCREAMING_SNAKE_CASE__							:      Dict         =    [
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]






def    _A	(   lowerCamelCase				,			lowerCamelCase				,			lowerCamelCase				,			lowerCamelCase				,			lowerCamelCase				,			):
   a__						:    Optional[int]   		=	[
       [0 for col in range(len(grid[0] ) )] for row in range(len(__snake_case ) )
   ]  # the reference grid
   a__						:    Union[str, Any]   		=	1
   a__						:    str   		=	[
       [0 for col in range(len(grid[0] ) )] for row in range(len(__snake_case ) )
   ]  # the action grid

   a__						:    int   		=	init[0]
   a__						:    Union[str, Any]   		=	init[1]
   a__						:    Dict   		=	0
   a__						:    List[Any]   		=	g + heuristic[x][y]  # cost from starting cell to destination cell
   a__						:    int   		=	[[f, g, x, y]]

   a__						:    Dict   		=	False  # flag that is set when search is complete
   a__						:    List[str]   		=	False  # flag set if we can't find expand

   while not found and not resign:
      if len(__snake_case ) == 0:
         raise ValueError("Algorithm is unable to find solution" )
      else:  # to choose the least costliest action so as to move closer to the goal
         cell.sort()
         cell.reverse()
         a__						:    Any   		=	cell.pop()
         a__						:    Any   		=	next_cell[2]
         a__						:    List[str]   		=	next_cell[3]
         a__						:    str   		=	next_cell[1]

         if x == goal[0] and y == goal[1]:
            a__						:    int   		=	True
         else:
            for i in range(len(__snake_case ) ):  # to try out different valid actions
               a__						:    int   		=	x + DIRECTIONS[i][0]
               a__						:    Optional[int]   		=	y + DIRECTIONS[i][1]
               if xa >= 0 and xa < len(__snake_case ) and ya >= 0 and ya < len(grid[0] ):
                  if closed[xa][ya] == 0 and grid[xa][ya] == 0:
                     a__						:    str   		=	g + cost
                     a__						:    Optional[Any]   		=	ga + heuristic[xa][ya]
                     cell.append([fa, ga, xa, ya] )
                     a__						:    str   		=	1
                     a__						:    Tuple   		=	i
   a__						:    Optional[int]   		=	[]
   a__						:    List[Any]   		=	goal[0]
   a__						:    Optional[Any]   		=	goal[1]
   invpath.append([x, y] )  # we get the reverse path from here
   while x != init[0] or y != init[1]:
      a__						:    Tuple   		=	x - DIRECTIONS[action[x][y]][0]
      a__						:    List[Any]   		=	y - DIRECTIONS[action[x][y]][1]
      a__						:    Union[str, Any]   		=	xa
      a__						:    List[str]   		=	ya
      invpath.append([x, y] )

   a__						:    Optional[Any]   		=	[]
   for i in range(len(__snake_case ) ):
      path.append(invpath[len(__snake_case ) - 1 - i] )
   return path, action


if __name__ == "__main__":
  SCREAMING_SNAKE_CASE__							:      int         =    [
      [0, 1, 0, 0, 0, 0],
      [0, 1, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
      [0, 1, 0, 0, 0, 0],
      [0, 1, 0, 0, 1, 0],
      [0, 0, 0, 0, 1, 0],
  ]

  SCREAMING_SNAKE_CASE__							:      List[str]         =    [0, 0]
  # all coordinates are given in format [y,x]
  SCREAMING_SNAKE_CASE__							:      List[str]         =    [len(grid) - 1, len(grid[0]) - 1]
  SCREAMING_SNAKE_CASE__							:      str         =    1

  # the cost map which pushes the path closer to the goal
  SCREAMING_SNAKE_CASE__							:      int         =    [[0 for row in range(len(grid[0]))] for col in range(len(grid))]
  for i in range(len(grid)):
    for j in range(len(grid[0])):
      SCREAMING_SNAKE_CASE__							:      int         =    abs(i - goal[0]) + abs(j - goal[1])
      if grid[i][j] == 1:
        # added extra penalty in the heuristic map
        SCREAMING_SNAKE_CASE__							:      int         =    9_9

  SCREAMING_SNAKE_CASE__   ,  SCREAMING_SNAKE_CASE__							:      Dict         =    search(grid, init, goal, cost, heuristic)

  print("""ACTION MAP""")
  for i in range(len(action)):
    print(action[i])

  for i in range(len(path)):
    print(path[i])





"""simple docstring"""
def 				_snake_case      (   __snake_case							:      str						, __snake_case							:      str   ):




   """simple docstring"""







   _lowerCamelCase	:					str   =		len(__snake_case   )
   _lowerCamelCase	:					Union[str, Any]   =		len(__snake_case   )
   _lowerCamelCase	:					int   =		[[False for _ in range(m + 1   )] for _ in range(n + 1   )]
   _lowerCamelCase	:					Union[str, Any]   =		True
   for i in range(__snake_case   ):
      for j in range(m + 1   ):
         if dp[i][j]:
            if j < m and a[i].upper() == b[j]:
               _lowerCamelCase	:					Tuple   =		True
            if a[i].islower():
               _lowerCamelCase	:					Tuple   =		True
   return dp[n][m]


if __name__ == "__main__":
 import doctest

 doctest.testmod()

