
'''simple docstring'''


import heapq
import sys

import numpy as np

__lowercase							:   List[Any]					=     tuple[int, int]

class 	__lowercase				:

			def __init__(self      ):
								lowerCamelCase_					:      Dict     =		[]
								lowerCamelCase_					:      Optional[Any]     =		set()

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

			def        UpperCAmelCase__ (self      ):
								return len(self.elements      ) == 0

			def        UpperCAmelCase__ (self			,   A			,   A      ):
								if item not in self.set:
													heapq.heappush(self.elements			,   (priority, item)      )
													self.set.add(A      )
								else:
													# update
													# print("update", item)
													lowerCamelCase_					:      Union[str, Any]     =		[]
													((lowerCamelCase_),      (lowerCamelCase_))					:      Tuple     =		heapq.heappop(self.elements      )
													while x != item:
																		temp.append((pri, x)      )
																		((lowerCamelCase_),      (lowerCamelCase_))					:      Union[str, Any]     =		heapq.heappop(self.elements      )
													temp.append((priority, item)      )
													for pro, xxx in temp:
																		heapq.heappush(self.elements			,   (pro, xxx)      )

			def        UpperCAmelCase__ (self			,   A      ):
								if item in self.set:
													self.set.remove(A      )
													lowerCamelCase_					:      List[str]     =		[]
													((lowerCamelCase_),      (lowerCamelCase_))					:      Any     =		heapq.heappop(self.elements      )
													while x != item:
																		temp.append((pro, x)      )
																		((lowerCamelCase_),      (lowerCamelCase_))					:      Optional[int]     =		heapq.heappop(self.elements      )
													for prito, yyy in temp:
																		heapq.heappush(self.elements			,   (prito, yyy)      )

			def        UpperCAmelCase__ (self      ):
								return self.elements[0][1]






			def        UpperCAmelCase__ (self      ):
								((lowerCamelCase_),      (lowerCamelCase_))					:      Any     =		heapq.heappop(self.elements      )
								self.set.remove(A      )
								return (priority, item)




def lowercase_	(   _lowercase			,       _lowercase				)     ->							Tuple:
					'''simple docstring'''

					lowerCamelCase_					:      Dict     =		np.array(_lowercase				)
					lowerCamelCase_					:      Optional[Any]     =		np.array(_lowercase				)
					return np.linalg.norm(a - b				)




def lowercase_	(   _lowercase			,       _lowercase				)     ->							Dict:
					'''simple docstring'''

					return consistent_heuristic(_lowercase			,       _lowercase				) // t




def lowercase_	(   _lowercase			,       _lowercase				)     ->							Tuple:
					'''simple docstring'''

					return abs(p[0] - goal[0]				) + abs(p[1] - goal[1]				)




def lowercase_	(   _lowercase			,       _lowercase			,       _lowercase			,       _lowercase				)     ->							Optional[Any]:
					'''simple docstring'''

					lowerCamelCase_					:      Optional[int]     =		g_function[start] + Wa * heuristics[i](_lowercase			,       _lowercase				)
					return ans




def lowercase_	(   _lowercase			,       _lowercase			,       _lowercase				)     ->							str:
					'''simple docstring'''

					lowerCamelCase_					:      str     =		np.chararray((n, n)				)
					for i in range(_lowercase				):
										for j in range(_lowercase				):
															lowerCamelCase_					:      List[Any]     =		'''*'''

					for i in range(_lowercase				):
										for j in range(_lowercase				):
															if (j, (n - 1) - i) in blocks:
																				lowerCamelCase_					:      int     =		'''#'''

					lowerCamelCase_					:      str     =		'''-'''
					lowerCamelCase_					:      Optional[Any]     =		back_pointer[goal]
					while x != start:
										((lowerCamelCase_),      (lowerCamelCase_))					:      Dict     =		x
										# print(x)
										lowerCamelCase_					:      str     =		'''-'''
										lowerCamelCase_					:      List[str]     =		back_pointer[x]
					lowerCamelCase_					:      Any     =		'''-'''

					for i in range(_lowercase				):
										for j in range(_lowercase				):
															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:-'''				)
					lowerCamelCase_					:      Any     =		back_pointer[goal]
					while x != start:
										print(_lowercase			,       end=''' '''				)
										lowerCamelCase_					:      Optional[int]     =		back_pointer[x]
					print(_lowercase				)
					sys.exit()




def lowercase_	(   _lowercase				)     ->							List[str]:
					'''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 lowercase_	(   _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       )     ->							List[Any]:
					'''simple docstring'''

					for itera in range(_lowercase				):
										open_list[itera].remove_element(_lowercase				)
					# print("s", s)
					# print("j", j)
					((lowerCamelCase_),      (lowerCamelCase_))					:      Optional[int]     =		s
					lowerCamelCase_					:      Optional[Any]     =		(x - 1, y)
					lowerCamelCase_					:      Any     =		(x + 1, y)
					lowerCamelCase_					:      Optional[Any]     =		(x, y + 1)
					lowerCamelCase_					:      List[Any]     =		(x, y - 1)

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

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




def lowercase_	(   )     ->							Union[str, Any]:
					'''simple docstring'''

					lowerCamelCase_					:      Dict     =		[]
					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


__lowercase							:   Optional[Any]					=     {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

__lowercase							:   Dict					=     [
    (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),
]
__lowercase							:   Tuple					=     make_common_ground()


__lowercase							:   Any					=     blocks_blk
# hyper parameters
__lowercase							:   Any					=     1
__lowercase							:   List[str]					=     1
__lowercase							:   List[str]					=     20
__lowercase							:   str					=     3  # one consistent and two other inconsistent

# start and end destination
__lowercase							:   Optional[Any]					=     (0, 0)
__lowercase							:   List[str]					=     (n - 1, n - 1)

__lowercase							:   Dict					=     1




def lowercase_	(   _lowercase			,       _lowercase			,       _lowercase				)     ->							Tuple:
					'''simple docstring'''

					lowerCamelCase_					:      int     =		{start: 0, goal: float('''inf'''				)}
					lowerCamelCase_					:      int     =		{start: -1, goal: -1}
					lowerCamelCase_					:      List[str]     =		[]
					lowerCamelCase_					:      int     =		set()

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

					lowerCamelCase_					:      list[int]     =		[]
					lowerCamelCase_					:      list[int]     =		[]
					while open_list[0].minkey() < float('''inf'''				):
										for i in range(1			,       _lowercase				):
															# 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(_lowercase			,       _lowercase			,       _lowercase				)
																				else:
																									lowerCamelCase_,      lowerCamelCase_					:      List[Any]     =		open_list[i].top_show()
																									visited.add(_lowercase				)
																									expand_state(
																									    _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       )
																									close_list_inad.append(_lowercase				)
															else:
																				if g_function[goal] <= open_list[0].minkey():
																									if g_function[goal] < float('''inf'''				):
																														do_something(_lowercase			,       _lowercase			,       _lowercase				)
																				else:
																									lowerCamelCase_					:      List[Any]     =		open_list[0].top_show()
																									visited.add(_lowercase				)
																									expand_state(
																									    _lowercase			,       0			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       _lowercase			,       )
																									close_list_anchor.append(_lowercase				)
					print('''No path found to goal'''				)
					print()
					for i in range(n - 1			,       -1			,       -1				):
										for j in range(_lowercase				):
															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 __future__ import annotations




def lowercase_	(   _lowercase			,       _lowercase			,       _lowercase				)     ->							dict[str, float]:
					'''simple docstring'''

					if (voltage, current, resistance).count(0				) != 1:
										raise ValueError('''One and only one argument must be 0'''				)
					if resistance < 0:
										raise ValueError('''Resistance cannot be negative'''				)
					if voltage == 0:
										return {"voltage": float(current * resistance				)}
					elif current == 0:
										return {"current": voltage / resistance}
					elif resistance == 0:
										return {"resistance": voltage / current}
					else:
										raise ValueError('''Exactly one argument must be 0'''				)


if __name__ == "__main__":
					import doctest

					doctest.testmod()


