
"""simple docstring"""






from __future__ import annotations

_lowercase							=				[
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]



def      lowerCAmelCase__			(		__magic_name__			,   __magic_name__			,   __magic_name__			,   __magic_name__			,   __magic_name__			,   )						->tuple[list[list[int]], list[list[int]]]:
			__lowercase       =       [
			    [0 for col in range(len(grid[0]      )      )] for row in range(len(__magic_name__      )      )
			]  # the reference grid
			__lowercase       =       1
			__lowercase       =       [
			    [0 for col in range(len(grid[0]      )      )] for row in range(len(__magic_name__      )      )
			]  # the action grid

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

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

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

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

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


if __name__ == "__main__":
					_lowercase							=				[
					    [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],
					]

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

					# the cost map which pushes the path closer to the goal
					_lowercase							=				[[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])):
															_lowercase							=				abs(i - goal[0]) + abs(j - goal[1])
															if grid[i][j] == 1:
																				# added extra penalty in the heuristic map
																				_lowercase							=				99

					_lowercase			,       _lowercase							=				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"""






from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_torch_available, is_vision_available


_lowercase							=				{
    '''configuration_mask2former''': [
        '''MASK2FORMER_PRETRAINED_CONFIG_ARCHIVE_MAP''',
        '''Mask2FormerConfig''',
    ],
}

try:
					if not is_vision_available():
										raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
					pass
else:
					_lowercase							=				['''Mask2FormerImageProcessor''']

try:
					if not is_torch_available():
										raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
					pass
else:
					_lowercase							=				[
					    '''MASK2FORMER_PRETRAINED_MODEL_ARCHIVE_LIST''',
					    '''Mask2FormerForUniversalSegmentation''',
					    '''Mask2FormerModel''',
					    '''Mask2FormerPreTrainedModel''',
					]

if TYPE_CHECKING:
					from .configuration_maskaformer import MASK2FORMER_PRETRAINED_CONFIG_ARCHIVE_MAP, MaskaFormerConfig

					try:
										if not is_vision_available():
															raise OptionalDependencyNotAvailable()
					except OptionalDependencyNotAvailable:
										pass
					else:
										from .image_processing_maskaformer import MaskaFormerImageProcessor

					try:
										if not is_torch_available():
															raise OptionalDependencyNotAvailable()
					except OptionalDependencyNotAvailable:
										pass
					else:
										from .modeling_maskaformer import (
										    MASK2FORMER_PRETRAINED_MODEL_ARCHIVE_LIST,
										    MaskaFormerForUniversalSegmentation,
										    MaskaFormerModel,
										    MaskaFormerPreTrainedModel,
										)


else:
					import sys

					_lowercase							=				_LazyModule(__name__, globals()['''__file__'''], _import_structure)





