


import heapq
import sys

import numpy as np

__a	 =      tuple[int, int]






class 	__lowercase					:





      def __init__(		self    :       Any							)     -> str:






         """simple docstring"""







         UpperCAmelCase      					=  []
         UpperCAmelCase      					=  set()





      def 							_lowercase					(		self    :       Dict							)     -> Optional[int]:






         """simple docstring"""







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





      def 							_lowercase					(		self    :       Tuple							)     -> str:






         """simple docstring"""







         return len(self.elements							) == 0





      def 							_lowercase					(		self    :       Optional[Any]       ,							__lowerCamelCase    :       Dict       ,							__lowerCamelCase    :       int							)     -> List[str]:






         """simple docstring"""







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





      def 							_lowercase					(		self    :       int       ,							__lowerCamelCase    :       List[Any]							)     -> Tuple:






         """simple docstring"""







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





      def 							_lowercase					(		self    :       str							)     -> Optional[Any]:






         """simple docstring"""







         return self.elements[0][1]





      def 							_lowercase					(		self    :       Any							)     -> int:






         """simple docstring"""







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

def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_ )    ->int:
   # euclidean distance
   UpperCAmelCase      					=  np.array(__snake_case )
   UpperCAmelCase      					=  np.array(__snake_case )
   return np.linalg.norm(a - b )
def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_ )    ->Union[str, Any]:
   # integer division by time variable
   return consistent_heuristic(__snake_case	,    __snake_case ) // t
def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_ )    ->List[str]:
   # manhattan distance
   return abs(p[0] - goal[0] ) + abs(p[1] - goal[1] )
def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_ )    ->str:
   UpperCAmelCase      					=  g_function[start] + Wa * heuristics[i](__snake_case	,    __snake_case )
   return ans
def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_ )    ->str:
   UpperCAmelCase      					=  np.chararray((n, n) )
   for i in range(__snake_case ):
      for j in range(__snake_case ):
         UpperCAmelCase      					=  """*"""

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

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

   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:-""" )
   UpperCAmelCase      					=  back_pointer[goal]
   while x != start:
      print(__snake_case	,    end=""" """ )
      UpperCAmelCase      					=  back_pointer[x]
   print(__snake_case )
   sys.exit()
def 	_UpperCamelCase					(    lowerCAmelCase_ )    ->List[str]:
   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 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_	,    )    ->Dict:
   for itera in range(__snake_case ):
      open_list[itera].remove_element(__snake_case )
   # print("s", s)
   # print("j", j)
   ((UpperCAmelCase)					,	(UpperCAmelCase))      					=  s
   UpperCAmelCase      					=  (x - 1, y)
   UpperCAmelCase      					=  (x + 1, y)
   UpperCAmelCase      					=  (x, y + 1)
   UpperCAmelCase      					=  (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 )
            UpperCAmelCase      					=  -1
            UpperCAmelCase      					=  float("""inf""" )

         if valid(__snake_case ) and g_function[neighbours] > g_function[s] + 1:
            UpperCAmelCase      					=  g_function[s] + 1
            UpperCAmelCase      					=  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 	_UpperCamelCase					(    )    ->List[Any]:
   UpperCAmelCase      					=  []
   for x in range(1	,    5 ):
      for y in range(1	,    6 ):
         some_list.append((x, y) )

   for x in range(1_5	,    2_0 ):
      some_list.append((x, 1_7) )

   for x in range(1_0	,    1_9 ):
      for y in range(1	,    1_5 ):
         some_list.append((x, y) )

    # L block
   for x in range(1	,    4 ):
      for y in range(1_2	,    1_9 ):
         some_list.append((x, y) )
   for x in range(3	,    1_3 ):
      for y in range(1_6	,    1_9 ):
         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),
    (10, 1),
    (11, 1),
    (12, 1),
    (13, 1),
    (14, 1),
    (15, 1),
    (16, 1),
    (17, 1),
    (18, 1),
    (19, 1),
]
__a	 =      make_common_ground()


__a	 =      blocks_blk
# hyper parameters
__a	 =      1
__a	 =      1
__a	 =      20
__a	 =      3  # one consistent and two other inconsistent

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

__a	 =      1
def 	_UpperCamelCase					(    lowerCAmelCase_	,    lowerCAmelCase_	,    lowerCAmelCase_ )    ->Tuple:
   UpperCAmelCase      					=  {start: 0, goal: float("""inf""" )}
   UpperCAmelCase      					=  {start: -1, goal: -1}
   UpperCAmelCase      					=  []
   UpperCAmelCase      					=  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 ) )

   UpperCAmelCase      					=  []
   UpperCAmelCase      					=  []
   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:
               UpperCAmelCase					,	UpperCAmelCase      					=  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:
               UpperCAmelCase      					=  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)











# NOTE: This file is deprecated and will be removed in a future version.
# It only exists so that temporarely `from diffusers.pipelines import DiffusionPipeline` works
from ...utils import deprecate
from ..controlnet.multicontrolnet import MultiControlNetModel  # noqa: F401
from ..controlnet.pipeline_controlnet import StableDiffusionControlNetPipeline  # noqa: F401


deprecate(
    '''stable diffusion controlnet''',
    '''0.22.0''',
    '''Importing `StableDiffusionControlNetPipeline` or `MultiControlNetModel` from diffusers.pipelines.stable_diffusion.pipeline_stable_diffusion_controlnet is deprecated. Please import `from diffusers import StableDiffusionControlNetPipeline` instead.''',
    standard_warn=False,
    stacklevel=3,
)