




'''simple docstring'''


import heapq
import sys

import numpy as np

_snake_case   :   str     							=	tuple[int, int]

class     A					:







					def __init__(						self :						Optional[Any]      )    ->							Optional[Any]:


												"""simple docstring"""


												_a			  =       []
												_a			  =       set()







					def      __lowerCAmelCase    (						self :						List[Any]      )    ->							int:


												"""simple docstring"""


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







					def      __lowerCAmelCase    (						self :						List[str]      )    ->							int:


												"""simple docstring"""


												return len(self.elements      ) == 0







					def      __lowerCAmelCase    (						self :						List[str]							,    lowerCAmelCase_ :						int							,    lowerCAmelCase_ :						Any      )    ->							List[Any]:


												"""simple docstring"""


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







					def      __lowerCAmelCase    (						self :						str							,    lowerCAmelCase_ :						List[Any]      )    ->							Optional[Any]:


												"""simple docstring"""


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







					def      __lowerCAmelCase    (						self :						Union[str, Any]      )    ->							Optional[Any]:


												"""simple docstring"""


												return self.elements[0][1]







					def      __lowerCAmelCase    (						self :						Tuple      )    ->							Tuple:


												"""simple docstring"""


												((_a)  ,							(_a))			  =       heapq.heappop(self.elements      )
												self.set.remove(lowerCAmelCase_      )
												return (priority, item)



def 	snake_case_					(UpperCamelCase :						Tuple				,		UpperCamelCase :						Union[str, Any]   ):





							'''simple docstring'''


							_a			  =       np.array(UpperCamelCase__   )
							_a			  =       np.array(UpperCamelCase__   )
							return np.linalg.norm(a - b   )
def 	snake_case_					(UpperCamelCase :						str				,		UpperCamelCase :						List[str]   ):





							'''simple docstring'''


							return consistent_heuristic(UpperCamelCase__				,		UpperCamelCase__   ) // t
def 	snake_case_					(UpperCamelCase :						List[str]				,		UpperCamelCase :						Any   ):





							'''simple docstring'''


							return abs(p[0] - goal[0]   ) + abs(p[1] - goal[1]   )
def 	snake_case_					(UpperCamelCase :						Optional[Any]				,		UpperCamelCase :						Union[str, Any]				,		UpperCamelCase :						Optional[int]				,		UpperCamelCase :						str   ):





							'''simple docstring'''


							_a			  =       g_function[start] + Wa * heuristics[i](UpperCamelCase__				,		UpperCamelCase__   )
							return ans
def 	snake_case_					(UpperCamelCase :						Union[str, Any]				,		UpperCamelCase :						Union[str, Any]				,		UpperCamelCase :						Tuple   ):





							'''simple docstring'''


							_a			  =       np.chararray((n, n)   )
							for i in range(UpperCamelCase__   ):
														for j in range(UpperCamelCase__   ):
																					_a			  =       '''*'''

							for i in range(UpperCamelCase__   ):
														for j in range(UpperCamelCase__   ):
																					if (j, (n - 1) - i) in blocks:
																												_a			  =       '''#'''

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

							for i in range(UpperCamelCase__   ):
														for j in range(UpperCamelCase__   ):
																					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:-'''   )
							_a			  =       back_pointer[goal]
							while x != start:
														print(UpperCamelCase__				,		end=''' '''   )
														_a			  =       back_pointer[x]
							print(UpperCamelCase__   )
							sys.exit()
def 	snake_case_					(UpperCamelCase :						Tuple   ):





							'''simple docstring'''


							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 	snake_case_					(UpperCamelCase :						int				,		UpperCamelCase :						Dict				,		UpperCamelCase :						Tuple				,		UpperCamelCase :						int				,		UpperCamelCase :						str				,		UpperCamelCase :						Any				,		UpperCamelCase :						List[str]				,		UpperCamelCase :						Optional[Any]				,		):





							'''simple docstring'''


							for itera in range(UpperCamelCase__   ):
														open_list[itera].remove_element(UpperCamelCase__   )
							# print("s", s)
							# print("j", j)
							((_a)  ,							(_a))			  =       s
							_a			  =       (x - 1, y)
							_a			  =       (x + 1, y)
							_a			  =       (x, y + 1)
							_a			  =       (x, y - 1)

							for neighbours in [left, right, up, down]:
														if neighbours not in blocks:
																					if valid(UpperCamelCase__   ) and neighbours not in visited:
																												# print("neighbour", neighbours)
																												visited.add(UpperCamelCase__   )
																												_a			  =       -1
																												_a			  =       float('''inf'''   )

																					if valid(UpperCamelCase__   ) and g_function[neighbours] > g_function[s] + 1:
																												_a			  =       g_function[s] + 1
																												_a			  =       s
																												if neighbours not in close_list_anchor:
																																			open_list[0].put(UpperCamelCase__				,		key(UpperCamelCase__				,		0				,		UpperCamelCase__				,		UpperCamelCase__   )   )
																																			if neighbours not in close_list_inad:
																																										for var in range(1				,		UpperCamelCase__   ):
																																																	if key(UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__   ) <= Wa * key(
																																																	    UpperCamelCase__				,		0				,		UpperCamelCase__				,		UpperCamelCase__   ):
																																																								open_list[j].put(
																																																								    UpperCamelCase__				,		key(UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__   )   )
def 	snake_case_					():





							'''simple docstring'''


							_a			  =       []
							for x in range(1				,		5   ):
														for y in range(1				,		6   ):
																					some_list.append((x, y)   )

							for x in range(15				,		20   ):
														some_list.append((x, 17)   )

							for x in range(10				,		19   ):
														for y in range(1				,		15   ):
																					some_list.append((x, y)   )

    # L block
							for x in range(1				,		4   ):
														for y in range(12				,		19   ):
																					some_list.append((x, y)   )
							for x in range(3				,		13   ):
														for y in range(16				,		19   ):
																					some_list.append((x, y)   )
							return some_list


_snake_case   :   Tuple     							=	{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

_snake_case   :   List[str]     							=	[
    (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),
]
_snake_case   :   Tuple     							=	make_common_ground()


_snake_case   :   Dict     							=	blocks_blk
# hyper parameters
_snake_case   :   int     							=	1
_snake_case   :   int     							=	1
_snake_case   :   Tuple     							=	20
_snake_case   :   Tuple     							=	3  # one consistent and two other inconsistent

# start and end destination
_snake_case   :   Tuple     							=	(0, 0)
_snake_case   :   List[Any]     							=	(n - 1, n - 1)

_snake_case   :   Optional[int]     							=	1
def 	snake_case_					(UpperCamelCase :						Dict				,		UpperCamelCase :						int				,		UpperCamelCase :						Union[str, Any]   ):





							'''simple docstring'''


							_a			  =       {start: 0, goal: float('''inf'''   )}
							_a			  =       {start: -1, goal: -1}
							_a			  =       []
							_a			  =       set()

							for i in range(UpperCamelCase__   ):
														open_list.append(PriorityQueue()   )
														open_list[i].put(UpperCamelCase__				,		key(UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__   )   )

							_a			  =       []
							_a			  =       []
							while open_list[0].minkey() < float('''inf'''   ):
														for i in range(1				,		UpperCamelCase__   ):
																					# 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(UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__   )
																												else:
																																			_a  ,							_a			  =       open_list[i].top_show()
																																			visited.add(UpperCamelCase__   )
																																			expand_state(
																																			    UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		)
																																			close_list_inad.append(UpperCamelCase__   )
																					else:
																												if g_function[goal] <= open_list[0].minkey():
																																			if g_function[goal] < float('''inf'''   ):
																																										do_something(UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__   )
																												else:
																																			_a			  =       open_list[0].top_show()
																																			visited.add(UpperCamelCase__   )
																																			expand_state(
																																			    UpperCamelCase__				,		0				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		UpperCamelCase__				,		)
																																			close_list_anchor.append(UpperCamelCase__   )
							print('''No path found to goal'''   )
							print()
							for i in range(n - 1				,		-1				,		-1   ):
														for j in range(UpperCamelCase__   ):
																					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)







'''simple docstring'''


from ..utils import DummyObject, requires_backends

class     A					(	metaclass=_a					):
							lowercase_           =       ['torch', 'torchsde']







							def __init__(						self :						Optional[Any]							,    *lowerCAmelCase_ :						Any							,    **lowerCAmelCase_ :						Tuple      )    ->							Dict:


														"""simple docstring"""


														requires_backends(self							,    ['''torch''', '''torchsde''']      )







							@classmethod
							def      __lowerCAmelCase    (						cls :						Dict							,    *lowerCAmelCase_ :						Optional[int]							,    **lowerCAmelCase_ :						Optional[Any]      )    ->							int:


														"""simple docstring"""


														requires_backends(cls							,    ['''torch''', '''torchsde''']      )







							@classmethod
							def      __lowerCAmelCase    (						cls :						List[str]							,    *lowerCAmelCase_ :						str							,    **lowerCAmelCase_ :						Optional[Any]      )    ->							Any:


														"""simple docstring"""


														requires_backends(cls							,    ['''torch''', '''torchsde''']      )

