

'''simple docstring'''





from __future__ import annotations

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






def 							_lowerCAmelCase (      __magic_name__	:    list[list[int]]      ,   __magic_name__	:    list[int]      ,   __magic_name__	:    list[int]      ,   __magic_name__	:    int      ,   __magic_name__	:    list[list[int]]      ,   )							->     tuple[list[list[int]], list[list[int]]]:
						lowercase   :       Any								=[
						    [0 for col in range(len(grid[0]	)	)] for row in range(len(__magic_name__	)	)
						]  # the reference grid
						lowercase   :       Union[str, Any]								=1
						lowercase   :       List[Any]								=[
						    [0 for col in range(len(grid[0]	)	)] for row in range(len(__magic_name__	)	)
						]  # the action grid

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

						lowercase   :       Any								=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(__magic_name__	) == 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   :       Tuple								=cell.pop()
																		lowercase   :       str								=next_cell[2]
																		lowercase   :       Optional[int]								=next_cell[3]
																		lowercase   :       List[Any]								=next_cell[1]

																		if x == goal[0] and y == goal[1]:
																								lowercase   :       Optional[Any]								=True
																		else:
																								for i in range(len(__magic_name__	)	):  # to try out different valid actions
																														lowercase   :       Optional[int]								=x + DIRECTIONS[i][0]
																														lowercase   :       Union[str, Any]								=y + DIRECTIONS[i][1]
																														if xa >= 0 and xa < len(__magic_name__	) and ya >= 0 and ya < len(grid[0]	):
																																				if closed[xa][ya] == 0 and grid[xa][ya] == 0:
																																										lowercase   :       Dict								=g + cost
																																										lowercase   :       Optional[Any]								=ga + heuristic[xa][ya]
																																										cell.append([fa, ga, xa, ya]	)
																																										lowercase   :       List[str]								=1
																																										lowercase   :       Tuple								=i
						lowercase   :       Optional[int]								=[]
						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   :       Dict								=x - DIRECTIONS[action[x][y]][0]
												lowercase   :       str								=y - DIRECTIONS[action[x][y]][1]
												lowercase   :       str								=xa
												lowercase   :       Union[str, Any]								=ya
												invpath.append([x, y]	)

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


if __name__ == "__main__":
							UpperCamelCase_							=					[
							    [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],
							]

							UpperCamelCase_							=					[0, 0]
							# all coordinates are given in format [y,x]
							UpperCamelCase_							=					[len(grid) - 1, len(grid[0]) - 1]
							UpperCamelCase_							=					1

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

							UpperCamelCase_	,      UpperCamelCase_							=					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'''





import math






def 							_lowerCAmelCase (      __magic_name__	:    float      ,   __magic_name__	:    float	)							->     float:
						if (
						    not isinstance(__magic_name__      ,   (int, float)	)
						    or power_factor < -1
						    or power_factor > 1
						):
												raise ValueError('''power_factor must be a valid float value between -1 and 1.'''	)
						return apparent_power * power_factor






def 							_lowerCAmelCase (      __magic_name__	:    float      ,   __magic_name__	:    float	)							->     float:
						if (
						    not isinstance(__magic_name__      ,   (int, float)	)
						    or power_factor < -1
						    or power_factor > 1
						):
												raise ValueError('''power_factor must be a valid float value between -1 and 1.'''	)
						return apparent_power * math.sqrt(1 - power_factor**2	)


if __name__ == "__main__":
							import doctest

							doctest.testmod()





