"""simple docstring"""







from __future__ import annotations

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


def      __lowerCAmelCase(		__UpperCAmelCase     ,__UpperCAmelCase     ,__UpperCAmelCase     ,__UpperCAmelCase     ,__UpperCAmelCase     ,):






	"""simple docstring"""





	_lowercase :    List[str]							=							[
	    [0 for col in range(len(grid[0]			)			)] for row in range(len(__UpperCAmelCase			)			)
	]  # the reference grid
	_lowercase :    Optional[Any]							=							1
	_lowercase :    Any							=							[
	    [0 for col in range(len(grid[0]			)			)] for row in range(len(__UpperCAmelCase			)			)
	]  # the action grid

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

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

	while not found and not resign:
		if len(__UpperCAmelCase			) == 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 :    List[Any]							=							cell.pop()
			_lowercase :    Optional[Any]							=							next_cell[2]
			_lowercase :    List[str]							=							next_cell[3]
			_lowercase :    Optional[int]							=							next_cell[1]

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

	_lowercase :    List[str]							=							[]
	for i in range(len(__UpperCAmelCase			)			):
		path.append(invpath[len(__UpperCAmelCase			) - 1 - i]			)
	return path, action


if __name__ == "__main__":
						SCREAMING_SNAKE_CASE									=						[
						    [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									=						[0, 0]
						# all coordinates are given in format [y,x]
						SCREAMING_SNAKE_CASE									=						[len(grid) - 1, len(grid[0]) - 1]
						SCREAMING_SNAKE_CASE									=						1

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

						SCREAMING_SNAKE_CASE							,    SCREAMING_SNAKE_CASE									=						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      __lowerCAmelCase(		__UpperCAmelCase     ,__UpperCAmelCase			):






	"""simple docstring"""





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


if __name__ == "__main__":
						import doctest

						doctest.testmod()



