


"""simple docstring"""




import heapq
import sys

import numpy as np

__magic_name__						: int    =				tuple[int, int]




class 			__snake_case   :




							def __init__(     self:    Union[str, Any]   ):
										__lowerCamelCase          =      []
										__lowerCamelCase          =      set()




							def   __a   (     self:    Dict   ):
										if not self.empty():
													return self.elements[0][0]
										else:
													return float("""inf"""   )




							def   __a   (     self:    int   ):
										return len(self.elements   ) == 0




							def   __a   (     self:    List[Any]     ,							A_:    Dict     ,							A_:    str   ):
										if item not in self.set:
													heapq.heappush(self.elements     ,							(priority, item)   )
													self.set.add(SCREAMING_SNAKE_CASE_   )
										else:
													# update
													# print("update", item)
													__lowerCamelCase          =      []
													((__lowerCamelCase)     ,(__lowerCamelCase))          =      heapq.heappop(self.elements   )
													while x != item:
																temp.append((pri, x)   )
																((__lowerCamelCase)     ,(__lowerCamelCase))          =      heapq.heappop(self.elements   )
													temp.append((priority, item)   )
													for pro, xxx in temp:
																heapq.heappush(self.elements     ,							(pro, xxx)   )




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




							def   __a   (     self:    Any   ):
										return self.elements[0][1]




							def   __a   (     self:    Tuple   ):
										((__lowerCamelCase)     ,(__lowerCamelCase))          =      heapq.heappop(self.elements   )
										self.set.remove(SCREAMING_SNAKE_CASE_   )
										return (priority, item)





def       a_ (	lowercase__ :TPos,			lowercase__ :TPos     ):
			__lowerCamelCase          =      np.array(snake_case__     )
			__lowerCamelCase          =      np.array(snake_case__     )
			return np.linalg.norm(a - b     )





def       a_ (	lowercase__ :TPos,			lowercase__ :TPos     ):
			return consistent_heuristic(snake_case__,			snake_case__     ) // t





def       a_ (	lowercase__ :TPos,			lowercase__ :TPos     ):
			return abs(p[0] - goal[0]     ) + abs(p[1] - goal[1]     )





def       a_ (	lowercase__ :TPos,			lowercase__ :int,			lowercase__ :TPos,			lowercase__ :dict[TPos, float]     ):
			__lowerCamelCase          =      g_function[start] + Wa * heuristics[i](snake_case__,			snake_case__     )
			return ans





def       a_ (	lowercase__ :List[Any],			lowercase__ :Dict,			lowercase__ :List[str]     ):
			__lowerCamelCase          =      np.chararray((n, n)     )
			for i in range(snake_case__     ):
						for j in range(snake_case__     ):
									__lowerCamelCase          =      """*"""

			for i in range(snake_case__     ):
						for j in range(snake_case__     ):
									if (j, (n - 1) - i) in blocks:
												__lowerCamelCase          =      """#"""

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

			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:-"""     )
			__lowerCamelCase          =      back_pointer[goal]
			while x != start:
						print(snake_case__,			end=""" """     )
						__lowerCamelCase          =      back_pointer[x]
			print(snake_case__     )
			sys.exit()





def       a_ (	lowercase__ :TPos     ):
			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_ (	lowercase__ :Optional[Any],			lowercase__ :List[str],			lowercase__ :Dict,			lowercase__ :str,			lowercase__ :Dict,			lowercase__ :Optional[Any],			lowercase__ :List[Any],			lowercase__ :Optional[int],			):
			for itera in range(snake_case__     ):
						open_list[itera].remove_element(snake_case__     )
			# print("s", s)
			# print("j", j)
			((__lowerCamelCase)     ,(__lowerCamelCase))          =      s
			__lowerCamelCase          =      (x - 1, y)
			__lowerCamelCase          =      (x + 1, y)
			__lowerCamelCase          =      (x, y + 1)
			__lowerCamelCase          =      (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__     )
												__lowerCamelCase          =      -1
												__lowerCamelCase          =      float("""inf"""     )

									if valid(snake_case__     ) and g_function[neighbours] > g_function[s] + 1:
												__lowerCamelCase          =      g_function[s] + 1
												__lowerCamelCase          =      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_ (	):
			__lowerCamelCase          =      []
			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


__magic_name__						: Optional[int]    =				{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

__magic_name__						: Optional[Any]    =				[
    (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),
]
__magic_name__						: List[Any]    =				make_common_ground()


__magic_name__						: int    =				blocks_blk
# hyper parameters
__magic_name__						: str    =				1
__magic_name__						: Dict    =				1
__magic_name__						: str    =				2_0
__magic_name__						: int    =				3  # one consistent and two other inconsistent

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

__magic_name__						: int    =				1





def       a_ (	lowercase__ :TPos,			lowercase__ :TPos,			lowercase__ :int     ):
			__lowerCamelCase          =      {start: 0, goal: float("""inf"""     )}
			__lowerCamelCase          =      {start: -1, goal: -1}
			__lowerCamelCase          =      []
			__lowerCamelCase          =      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__     )     )

			__lowerCamelCase          =      []
			__lowerCamelCase          =      []
			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:
															__lowerCamelCase     ,__lowerCamelCase          =      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:
															__lowerCamelCase          =      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()




