



from __future__ import annotations

_lowerCAmelCase	:   Union[str, Any]    =   [
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]







def     UpperCAmelCase_		(					snake_case__    ,			snake_case__    ,			snake_case__    ,			snake_case__    ,			snake_case__    ,			)	->     Union[str, Any]:



				"""simple docstring"""





				lowerCAmelCase__		  =  [
				    [0 for col in range(len(grid[0]					)					)] for row in range(len(A__					)					)
				]  # the reference grid
				lowerCAmelCase__		  =  1
				lowerCAmelCase__		  =  [
				    [0 for col in range(len(grid[0]					)					)] for row in range(len(A__					)					)
				]  # the action grid

				lowerCAmelCase__		  =  init[0]
				lowerCAmelCase__		  =  init[1]
				lowerCAmelCase__		  =  0
				lowerCAmelCase__		  =  g + heuristic[x][y]  # cost from starting cell to destination cell
				lowerCAmelCase__		  =  [[f, g, x, y]]

				lowerCAmelCase__		  =  False  # flag that is set when search is complete
				lowerCAmelCase__		  =  False  # flag set if we can't find expand

				while not found and not resign:
								if len(A__					) == 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()
												lowerCAmelCase__		  =  cell.pop()
												lowerCAmelCase__		  =  next_cell[2]
												lowerCAmelCase__		  =  next_cell[3]
												lowerCAmelCase__		  =  next_cell[1]

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

				lowerCAmelCase__		  =  []
				for i in range(len(A__					)					):
								path.append(invpath[len(A__					) - 1 - i]					)
				return path, action


if __name__ == "__main__":
	_lowerCAmelCase	:   Union[str, Any]    =   [
	    [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],
	]

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

	# the cost map which pushes the path closer to the goal
	_lowerCAmelCase	:   Union[str, Any]    =   [[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])):
			_lowerCAmelCase	:   List[str]    =   abs(i - goal[0]) + abs(j - goal[1])
			if grid[i][j] == 1:
				# added extra penalty in the heuristic map
				_lowerCAmelCase	:   List[str]    =   9_9

	_lowerCAmelCase	:   Any    =   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])




import unittest

from transformers import MODEL_FOR_ZERO_SHOT_OBJECT_DETECTION_MAPPING, is_vision_available, pipeline
from transformers.testing_utils import (
    is_pipeline_test,
    nested_simplify,
    require_tf,
    require_torch,
    require_vision,
    slow,
)

from .test_pipelines_common import ANY


if is_vision_available():
				from PIL import Image
else:







				class 	__lowercase    :





											"""simple docstring"""







											@staticmethod
											def 					UpperCamelCase__     (      *lowerCAmelCase__			,						**lowerCAmelCase__       ):





														"""simple docstring"""




														pass







@is_pipeline_test
@require_vision
@require_torch
class 	__lowercase    (unittest.TestCase  ):





							"""simple docstring"""







							_UpperCAmelCase      =						MODEL_FOR_ZERO_SHOT_OBJECT_DETECTION_MAPPING






							def 					UpperCamelCase__     (      self			,						lowerCAmelCase__			,						lowerCAmelCase__			,						lowerCAmelCase__       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     List[str]					=					pipeline(
										    'zero-shot-object-detection'			,						model='hf-internal-testing/tiny-random-owlvit-object-detection'       )

										SCREAMING_SNAKE_CASE_		:     Optional[Any]					=					[
										    {
										        'image': './tests/fixtures/tests_samples/COCO/000000039769.png',
										        'candidate_labels': ['cat', 'remote', 'couch'],
										    }
										]
										return object_detector, examples






							def 					UpperCamelCase__     (      self			,						lowerCAmelCase__			,						lowerCAmelCase__       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     Optional[Any]					=					object_detector(examples[0]			,						threshold=0.0       )

										SCREAMING_SNAKE_CASE_		:     int					=					len(lowerCAmelCase__       )
										self.assertGreater(lowerCAmelCase__			,						0       )
										self.assertEqual(
										    lowerCAmelCase__			,						[
										        {
										            'score': ANY(lowerCAmelCase__       ),
										            'label': ANY(lowerCAmelCase__       ),
										            'box': {'xmin': ANY(lowerCAmelCase__       ), 'ymin': ANY(lowerCAmelCase__       ), 'xmax': ANY(lowerCAmelCase__       ), 'ymax': ANY(lowerCAmelCase__       )},
										        }
										        for i in range(lowerCAmelCase__       )
										    ]			,						)






							@require_tf
							@unittest.skip('Zero Shot Object Detection not implemented in TF'       )
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										pass






							@require_torch
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     List[Any]					=					pipeline(
										    'zero-shot-object-detection'			,						model='hf-internal-testing/tiny-random-owlvit-object-detection'       )

										SCREAMING_SNAKE_CASE_		:     str					=					object_detector(
										    './tests/fixtures/tests_samples/COCO/000000039769.png'			,						candidate_labels=['cat', 'remote', 'couch']			,						threshold=0.64			,						)

										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        {'score': 0.7_235, 'label': 'cat', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										        {'score': 0.7_218, 'label': 'remote', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										        {'score': 0.7_184, 'label': 'couch', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										        {'score': 0.6_748, 'label': 'remote', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										        {'score': 0.6_656, 'label': 'cat', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										        {'score': 0.6_614, 'label': 'couch', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										        {'score': 0.6_456, 'label': 'remote', 'box': {'xmin': 4_9_4, 'ymin': 1_0_5, 'xmax': 5_2_1, 'ymax': 1_2_7}},
										        {'score': 0.642, 'label': 'remote', 'box': {'xmin': 6_7, 'ymin': 2_7_4, 'xmax': 9_3, 'ymax': 2_9_7}},
										        {'score': 0.6_419, 'label': 'cat', 'box': {'xmin': 4_9_4, 'ymin': 1_0_5, 'xmax': 5_2_1, 'ymax': 1_2_7}},
										    ]			,						)

										SCREAMING_SNAKE_CASE_		:     Optional[Any]					=					object_detector(
										    [
										        {
										            'image': './tests/fixtures/tests_samples/COCO/000000039769.png',
										            'candidate_labels': ['cat', 'remote', 'couch'],
										        }
										    ]			,						threshold=0.64			,						)

										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        [
										            {'score': 0.7_235, 'label': 'cat', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										            {'score': 0.7_218, 'label': 'remote', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										            {'score': 0.7_184, 'label': 'couch', 'box': {'xmin': 2_0_4, 'ymin': 1_6_7, 'xmax': 2_3_2, 'ymax': 1_9_0}},
										            {'score': 0.6_748, 'label': 'remote', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										            {'score': 0.6_656, 'label': 'cat', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										            {'score': 0.6_614, 'label': 'couch', 'box': {'xmin': 5_7_1, 'ymin': 8_3, 'xmax': 5_9_8, 'ymax': 1_0_3}},
										            {'score': 0.6_456, 'label': 'remote', 'box': {'xmin': 4_9_4, 'ymin': 1_0_5, 'xmax': 5_2_1, 'ymax': 1_2_7}},
										            {'score': 0.642, 'label': 'remote', 'box': {'xmin': 6_7, 'ymin': 2_7_4, 'xmax': 9_3, 'ymax': 2_9_7}},
										            {'score': 0.6_419, 'label': 'cat', 'box': {'xmin': 4_9_4, 'ymin': 1_0_5, 'xmax': 5_2_1, 'ymax': 1_2_7}},
										        ]
										    ]			,						)






							@require_torch
							@slow
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     List[str]					=					pipeline('zero-shot-object-detection'       )

										SCREAMING_SNAKE_CASE_		:     List[str]					=					object_detector(
										    'http://images.cocodataset.org/val2017/000000039769.jpg'			,						candidate_labels=['cat', 'remote', 'couch']			,						)
										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        {'score': 0.2_868, 'label': 'cat', 'box': {'xmin': 3_2_4, 'ymin': 2_0, 'xmax': 6_4_0, 'ymax': 3_7_3}},
										        {'score': 0.277, 'label': 'remote', 'box': {'xmin': 4_0, 'ymin': 7_2, 'xmax': 1_7_7, 'ymax': 1_1_5}},
										        {'score': 0.2_537, 'label': 'cat', 'box': {'xmin': 1, 'ymin': 5_5, 'xmax': 3_1_5, 'ymax': 4_7_2}},
										        {'score': 0.1_474, 'label': 'remote', 'box': {'xmin': 3_3_5, 'ymin': 7_4, 'xmax': 3_7_1, 'ymax': 1_8_7}},
										        {'score': 0.1_208, 'label': 'couch', 'box': {'xmin': 4, 'ymin': 0, 'xmax': 6_4_2, 'ymax': 4_7_6}},
										    ]			,						)

										SCREAMING_SNAKE_CASE_		:     List[Any]					=					object_detector(
										    [
										        {
										            'image': 'http://images.cocodataset.org/val2017/000000039769.jpg',
										            'candidate_labels': ['cat', 'remote', 'couch'],
										        },
										        {
										            'image': 'http://images.cocodataset.org/val2017/000000039769.jpg',
										            'candidate_labels': ['cat', 'remote', 'couch'],
										        },
										    ]			,						)
										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        [
										            {'score': 0.2_868, 'label': 'cat', 'box': {'xmin': 3_2_4, 'ymin': 2_0, 'xmax': 6_4_0, 'ymax': 3_7_3}},
										            {'score': 0.277, 'label': 'remote', 'box': {'xmin': 4_0, 'ymin': 7_2, 'xmax': 1_7_7, 'ymax': 1_1_5}},
										            {'score': 0.2_537, 'label': 'cat', 'box': {'xmin': 1, 'ymin': 5_5, 'xmax': 3_1_5, 'ymax': 4_7_2}},
										            {'score': 0.1_474, 'label': 'remote', 'box': {'xmin': 3_3_5, 'ymin': 7_4, 'xmax': 3_7_1, 'ymax': 1_8_7}},
										            {'score': 0.1_208, 'label': 'couch', 'box': {'xmin': 4, 'ymin': 0, 'xmax': 6_4_2, 'ymax': 4_7_6}},
										        ],
										        [
										            {'score': 0.2_868, 'label': 'cat', 'box': {'xmin': 3_2_4, 'ymin': 2_0, 'xmax': 6_4_0, 'ymax': 3_7_3}},
										            {'score': 0.277, 'label': 'remote', 'box': {'xmin': 4_0, 'ymin': 7_2, 'xmax': 1_7_7, 'ymax': 1_1_5}},
										            {'score': 0.2_537, 'label': 'cat', 'box': {'xmin': 1, 'ymin': 5_5, 'xmax': 3_1_5, 'ymax': 4_7_2}},
										            {'score': 0.1_474, 'label': 'remote', 'box': {'xmin': 3_3_5, 'ymin': 7_4, 'xmax': 3_7_1, 'ymax': 1_8_7}},
										            {'score': 0.1_208, 'label': 'couch', 'box': {'xmin': 4, 'ymin': 0, 'xmax': 6_4_2, 'ymax': 4_7_6}},
										        ],
										    ]			,						)






							@require_tf
							@unittest.skip('Zero Shot Object Detection not implemented in TF'       )
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										pass






							@require_torch
							@slow
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     str					=					0.2
										SCREAMING_SNAKE_CASE_		:     str					=					pipeline('zero-shot-object-detection'       )

										SCREAMING_SNAKE_CASE_		:     Union[str, Any]					=					object_detector(
										    'http://images.cocodataset.org/val2017/000000039769.jpg'			,						candidate_labels=['cat', 'remote', 'couch']			,						threshold=lowerCAmelCase__			,						)
										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        {'score': 0.2_868, 'label': 'cat', 'box': {'xmin': 3_2_4, 'ymin': 2_0, 'xmax': 6_4_0, 'ymax': 3_7_3}},
										        {'score': 0.277, 'label': 'remote', 'box': {'xmin': 4_0, 'ymin': 7_2, 'xmax': 1_7_7, 'ymax': 1_1_5}},
										        {'score': 0.2_537, 'label': 'cat', 'box': {'xmin': 1, 'ymin': 5_5, 'xmax': 3_1_5, 'ymax': 4_7_2}},
										    ]			,						)






							@require_torch
							@slow
							def 					UpperCamelCase__     (      self       ):





										"""simple docstring"""




										SCREAMING_SNAKE_CASE_		:     Dict					=					2
										SCREAMING_SNAKE_CASE_		:     int					=					pipeline('zero-shot-object-detection'       )

										SCREAMING_SNAKE_CASE_		:     Tuple					=					object_detector(
										    'http://images.cocodataset.org/val2017/000000039769.jpg'			,						candidate_labels=['cat', 'remote', 'couch']			,						top_k=lowerCAmelCase__			,						)
										self.assertEqual(
										    nested_simplify(lowerCAmelCase__			,						decimals=4       )			,						[
										        {'score': 0.2_868, 'label': 'cat', 'box': {'xmin': 3_2_4, 'ymin': 2_0, 'xmax': 6_4_0, 'ymax': 3_7_3}},
										        {'score': 0.277, 'label': 'remote', 'box': {'xmin': 4_0, 'ymin': 7_2, 'xmax': 1_7_7, 'ymax': 1_1_5}},
										    ]			,						)





