
'''simple docstring'''
import heapq
import sys

import numpy as np

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






class    UpperCAmelCase_				:





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





 def        snake_case__		(    self):

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





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





 def        snake_case__		(    self ,       lowercase_ ,       lowercase_):

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





 def        snake_case__		(    self ,       lowercase_):

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





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





 def        snake_case__		(    self):
     ((snake_case_)			, (snake_case_)) :    List[str]     			=						heapq.heappop(self.elements)
     self.set.remove(__SCREAMING_SNAKE_CASE)
     return (priority, item)


def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    Optional[int]     			=						np.array(_UpperCAmelCase       )
    snake_case_ :    Optional[int]     			=						np.array(_UpperCAmelCase       )
    return np.linalg.norm(a - b       )

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    return consistent_heuristic(_UpperCAmelCase,		_UpperCAmelCase       ) // t

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






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

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    List[str]     			=						g_function[start] + Wa * heuristics[i](_UpperCAmelCase,		_UpperCAmelCase       )
    return ans

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    int     			=						np.chararray((n, n)       )
    for i in range(_UpperCAmelCase       ):
        for j in range(_UpperCAmelCase       ):
            snake_case_ :    Any     			=						"*"

    for i in range(_UpperCAmelCase       ):
        for j in range(_UpperCAmelCase       ):
            if (j, (n - 1) - i) in blocks:
                snake_case_ :    str     			=						"#"

    snake_case_ :    List[str]     			=						"-"
    snake_case_ :    Dict     			=						back_pointer[goal]
    while x != start:
        ((snake_case_)			, (snake_case_)) :    str     			=						x
        # print(x)
        snake_case_ :    Union[str, Any]     			=						"-"
        snake_case_ :    Union[str, Any]     			=						back_pointer[x]
    snake_case_ :    Tuple     			=						"-"

    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:-"       )
    snake_case_ :    str     			=						back_pointer[goal]
    while x != start:
        print(_UpperCAmelCase,		end=" "       )
        snake_case_ :    List[Any]     			=						back_pointer[x]
    print(_UpperCAmelCase       )
    sys.exit()

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE       ):
    """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 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		):
    """simple docstring"""






    for itera in range(_UpperCAmelCase       ):
        open_list[itera].remove_element(_UpperCAmelCase       )
    # print("s", s)
    # print("j", j)
    ((snake_case_)			, (snake_case_)) :    str     			=						s
    snake_case_ :    Optional[int]     			=						(x - 1, y)
    snake_case_ :    List[Any]     			=						(x + 1, y)
    snake_case_ :    List[Any]     			=						(x, y + 1)
    snake_case_ :    Union[str, Any]     			=						(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       )
                snake_case_ :    int     			=						-1
                snake_case_ :    Any     			=						float("inf"       )

            if valid(_UpperCAmelCase       ) and g_function[neighbours] > g_function[s] + 1:
                snake_case_ :    List[str]     			=						g_function[s] + 1
                snake_case_ :    List[str]     			=						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 						UpperCamelCase_     (	):
    """simple docstring"""






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

    for x in range(1_5,		2_0       ):
        some_list.append((x, 1_7)       )

    for x in range(1_0,		1_9       ):
        for y in range(1,		1_5       ):
            some_list.append((x, y)       )

    # L block
    for x in range(1,		4       ):
        for y in range(1_2,		1_9       ):
            some_list.append((x, y)       )
    for x in range(3,		1_3       ):
        for y in range(1_6,		1_9       ):
            some_list.append((x, y)       )
    return some_list


a_     :   List[Any]											=						{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

a_     :   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),
]
a_     :   Union[str, Any]											=						make_common_ground()


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

# start and end destination
a_     :   Union[str, Any]											=						(0, 0)
a_     :   Tuple											=						(n - 1, n - 1)

a_     :   Optional[int]											=						1

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE,		__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    Union[str, Any]     			=						{start: 0, goal: float("inf"       )}
    snake_case_ :    Union[str, Any]     			=						{start: -1, goal: -1}
    snake_case_ :    Tuple     			=						[]
    snake_case_ :    List[str]     			=						set()

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

    snake_case_ :    str     			=						[]
    snake_case_ :    List[Any]     			=						[]
    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:
                    snake_case_			, snake_case_ :    int     			=						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:
                    snake_case_ :    List[str]     			=						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 __future__ import annotations

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    List[Any]     			=						0.00
    snake_case_ :    int     			=						0
    for resistor in resistors:
        if resistor <= 0:
            snake_case_ :    Dict     			=						f'Resistor at index {index} has a negative or zero value!'
            raise ValueError(__SCREAMING_SNAKE_CASE       )
        first_sum += 1 / float(__SCREAMING_SNAKE_CASE       )
        index += 1
    return 1 / first_sum

def 						UpperCamelCase_     (	__SCREAMING_SNAKE_CASE       ):
    """simple docstring"""






    snake_case_ :    Union[str, Any]     			=						0.00
    snake_case_ :    List[Any]     			=						0
    for resistor in resistors:
        sum_r += resistor
        if resistor < 0:
            snake_case_ :    str     			=						f'Resistor at index {index} has a negative value!'
            raise ValueError(__SCREAMING_SNAKE_CASE       )
        index += 1
    return sum_r


if __name__ == "__main__":
  import doctest

  doctest.testmod()




