
'''simple docstring'''


from __future__ import annotations

snake_case_ :  Union[str, Any]     =					list[tuple[int, int]]

snake_case_ :  str     =					[
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

snake_case_ :  Dict     =					([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right


class 						lowercase__	:






   '''simple docstring'''







   def __init__(			self ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   lowerCamelCase__ ,   ):

      '''simple docstring'''







      UpperCamelCase       =  pos_x
      UpperCamelCase       =  pos_y
      UpperCamelCase       =  (pos_y, pos_x)
      UpperCamelCase       =  goal_x
      UpperCamelCase       =  goal_y
      UpperCamelCase       =  g_cost
      UpperCamelCase       =  parent
      UpperCamelCase       =  self.calculate_heuristic()







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      UpperCamelCase       =  abs(self.pos_x - self.goal_x   )
      UpperCamelCase       =  abs(self.pos_y - self.goal_y   )
      return dx + dy







   def __lt__(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      return self.f_cost < other.f_cost




class 						lowercase__	:






   '''simple docstring'''







   def __init__(			self ,   lowerCamelCase__ ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  Node(start[1] ,   start[0] ,   goal[1] ,   goal[0] ,   0 ,   lowerCamelCase__   )
      UpperCamelCase       =  Node(goal[1] ,   goal[0] ,   goal[1] ,   goal[0] ,   9_9_9_9_9 ,   lowerCamelCase__   )

      UpperCamelCase       =  [self.start]
      UpperCamelCase       =  []

      UpperCamelCase       =  False







   def       UpperCAmelCase				(			self   ):

      '''simple docstring'''







      while self.open_nodes:
         # Open Nodes are sorted using __lt__
         self.open_nodes.sort()
         UpperCamelCase       =  self.open_nodes.pop(0   )

         if current_node.pos == self.target.pos:
            UpperCamelCase       =  True
            return self.retrace_path(lowerCamelCase__   )

         self.closed_nodes.append(lowerCamelCase__   )
         UpperCamelCase       =  self.get_successors(lowerCamelCase__   )

         for child_node in successors:
            if child_node in self.closed_nodes:
               continue

            if child_node not in self.open_nodes:
               self.open_nodes.append(lowerCamelCase__   )
            else:
               # retrieve the best current path
               UpperCamelCase       =  self.open_nodes.pop(self.open_nodes.index(lowerCamelCase__   )   )

               if child_node.g_cost < better_node.g_cost:
                  self.open_nodes.append(lowerCamelCase__   )
               else:
                  self.open_nodes.append(lowerCamelCase__   )

      if not self.reached:
         return [self.start.pos]
      return None







   def       UpperCAmelCase				(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  []
      for action in delta:
         UpperCamelCase       =  parent.pos_x + action[1]
         UpperCamelCase       =  parent.pos_y + action[0]

         if not (0 <= pos_x <= len(grid[0]   ) - 1 and 0 <= pos_y <= len(lowerCamelCase__   ) - 1):
            continue

         if grid[pos_y][pos_x] != 0:
            continue

         successors.append(
             Node(
                 lowerCamelCase__ ,   lowerCamelCase__ ,   self.target.pos_y ,   self.target.pos_x ,   parent.g_cost + 1 ,   lowerCamelCase__ ,   )   )
      return successors







   def       UpperCAmelCase				(			self ,   lowerCamelCase__   ):

      '''simple docstring'''







      UpperCamelCase       =  node
      UpperCamelCase       =  []
      while current_node is not None:
         path.append((current_node.pos_y, current_node.pos_x)   )
         UpperCamelCase       =  current_node.parent
      path.reverse()
      return path


if __name__ == "__main__":
   snake_case_ :  Union[str, Any]     =					(0, 0)
   snake_case_ :  Dict     =					(len(grid) - 1, len(grid[0]) - 1)
   for elem in grid:
      print(elem)

   print('------')

   snake_case_ :  Dict     =					GreedyBestFirst(init, goal)
   snake_case_ :  Optional[int]     =					greedy_bf.search()
   if path:
      for pos_x, pos_y in path:
         snake_case_ :  Optional[int]     =					2

      for elem in grid:
         print(elem)







'''simple docstring'''


from __future__ import annotations



def  __snake_case     (    _UpperCAmelCase					:       list[int]):
   UpperCamelCase       =  len(_UpperCAmelCase) // 2

   # choose the middle 3 elements
   UpperCamelCase       =  lst[m - 1 : m + 2]

   # if middle element is peak
   if three[1] > three[0] and three[1] > three[2]:
      return three[1]

   # if increasing, recurse on right
   elif three[0] < three[2]:
      if len(lst[:m]) == 2:
         m -= 1
      return peak(lst[m:])

   # decreasing
   else:
      if len(lst[:m]) == 2:
         m += 1
      return peak(lst[:m])


if __name__ == "__main__":
   import doctest

   doctest.testmod()





