






"""simple docstring"""




import heapq
import sys

import numpy as np

A_		:		List[str]		     =			tuple[int, int]




class     _lowerCAmelCase:





       """simple docstring"""







       def __init__( self							):
         UpperCamelCase_: Any   				=    []
         UpperCamelCase_: Union[str, Any]   				=    set()





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





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





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





       def       _a   ( self  ,      _lowerCamelCase							):
         if item in self.set:
           self.set.remove(_lowerCamelCase							)
           UpperCamelCase_: List[Any]   				=    []
           (UpperCamelCase_): Dict   				=    heapq.heappop(self.elements							)
           while x != item:
             temp.append((pro, x)							)
             (UpperCamelCase_): Union[str, Any]   				=    heapq.heappop(self.elements							)
           for prito, yyy in temp:
             heapq.heappush(self.elements  ,      (prito, yyy)							)





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





       def       _a   ( self							):
         (UpperCamelCase_): int   				=    heapq.heappop(self.elements							)
         self.set.remove(_lowerCamelCase							)
         return (priority, item)







def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__  )	->    Optional[int]:
  # euclidean distance
  UpperCamelCase_: Optional[Any]   				=    np.array(UpperCAmelCase__  )
  UpperCamelCase_: int   				=    np.array(UpperCAmelCase__  )
  return np.linalg.norm(a - b  )

def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__  )	->    Tuple:
  # integer division by time variable
  return consistent_heuristic(UpperCAmelCase__     ,   UpperCAmelCase__  ) // t

def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__  )	->    str:
  # manhattan distance
  return abs(p[0] - goal[0]  ) + abs(p[1] - goal[1]  )

def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__  )	->    List[Any]:
  UpperCamelCase_: Union[str, Any]   				=    g_function[start] + Wa * heuristics[i](UpperCAmelCase__     ,   UpperCAmelCase__  )
  return ans

def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__  )	->    List[Any]:
  UpperCamelCase_: List[Any]   				=    np.chararray((n, n)  )
  for i in range(UpperCAmelCase__  ):
    for j in range(UpperCAmelCase__  ):
      UpperCamelCase_: Dict   				=    '*'

  for i in range(UpperCAmelCase__  ):
    for j in range(UpperCAmelCase__  ):
      if (j, (n - 1) - i) in blocks:
        UpperCamelCase_: Optional[int]   				=    '#'

  UpperCamelCase_: str   				=    '-'
  UpperCamelCase_: Union[str, Any]   				=    back_pointer[goal]
  while x != start:
    (UpperCamelCase_): List[Any]   				=    x
    # print(x)
    UpperCamelCase_: int   				=    '-'
    UpperCamelCase_: List[str]   				=    back_pointer[x]
  UpperCamelCase_: int   				=    '-'

  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:-'  )
  UpperCamelCase_: Optional[int]   				=    back_pointer[goal]
  while x != start:
    print(UpperCAmelCase__     ,   end=' '  )
    UpperCamelCase_: Optional[int]   				=    back_pointer[x]
  print(UpperCAmelCase__  )
  sys.exit()

def   snake_case (UpperCAmelCase__  )	->    Optional[int]:
  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__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__     ,   )	->    str:
  for itera in range(UpperCAmelCase__  ):
    open_list[itera].remove_element(UpperCAmelCase__  )
  # print("s", s)
  # print("j", j)
  (UpperCamelCase_): List[str]   				=    s
  UpperCamelCase_: Optional[Any]   				=    (x - 1, y)
  UpperCamelCase_: Dict   				=    (x + 1, y)
  UpperCamelCase_: str   				=    (x, y + 1)
  UpperCamelCase_: 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__  )
        UpperCamelCase_: Tuple   				=    -1
        UpperCamelCase_: Dict   				=    float('inf'  )

      if valid(UpperCAmelCase__  ) and g_function[neighbours] > g_function[s] + 1:
        UpperCamelCase_: Any   				=    g_function[s] + 1
        UpperCamelCase_: int   				=    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 ()	->    int:
  UpperCamelCase_: Union[str, 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_		:		Union[str, 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_		:		List[Any]		     =			make_common_ground()


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

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

A_		:		Dict		     =			1

def   snake_case (UpperCAmelCase__     ,   UpperCAmelCase__     ,   UpperCAmelCase__  )	->    Optional[Any]:
  UpperCamelCase_: str   				=    {start: 0, goal: float('inf'  )}
  UpperCamelCase_: Any   				=    {start: -1, goal: -1}
  UpperCamelCase_: Tuple   				=    []
  UpperCamelCase_: Optional[int]   				=    set()

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

  UpperCamelCase_: list[int]   				=    []
  UpperCamelCase_: list[int]   				=    []
  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:
          UpperCamelCase_: Union[str, Any]   				=    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:
          UpperCamelCase_: Tuple   				=    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)







from typing import TYPE_CHECKING

from ...utils import (
    OptionalDependencyNotAvailable,
    _LazyModule,
    is_tf_available,
    is_tokenizers_available,
    is_torch_available,
)


A_		:		Tuple		     =			{
    'configuration_funnel': ['FUNNEL_PRETRAINED_CONFIG_ARCHIVE_MAP', 'FunnelConfig'],
    'convert_funnel_original_tf_checkpoint_to_pytorch': [],
    'tokenization_funnel': ['FunnelTokenizer'],
}

try:
   if not is_tokenizers_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   A_		:		List[str]		     =			['FunnelTokenizerFast']

try:
   if not is_torch_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   A_		:		List[str]		     =			[
       'FUNNEL_PRETRAINED_MODEL_ARCHIVE_LIST',
       'FunnelBaseModel',
       'FunnelForMaskedLM',
       'FunnelForMultipleChoice',
       'FunnelForPreTraining',
       'FunnelForQuestionAnswering',
       'FunnelForSequenceClassification',
       'FunnelForTokenClassification',
       'FunnelModel',
       'FunnelPreTrainedModel',
       'load_tf_weights_in_funnel',
   ]

try:
   if not is_tf_available():
      raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
   pass
else:
   A_		:		str		     =			[
       'TF_FUNNEL_PRETRAINED_MODEL_ARCHIVE_LIST',
       'TFFunnelBaseModel',
       'TFFunnelForMaskedLM',
       'TFFunnelForMultipleChoice',
       'TFFunnelForPreTraining',
       'TFFunnelForQuestionAnswering',
       'TFFunnelForSequenceClassification',
       'TFFunnelForTokenClassification',
       'TFFunnelModel',
       'TFFunnelPreTrainedModel',
   ]


if TYPE_CHECKING:
   from .configuration_funnel import FUNNEL_PRETRAINED_CONFIG_ARCHIVE_MAP, FunnelConfig
   from .tokenization_funnel import FunnelTokenizer

   try:
      if not is_tokenizers_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .tokenization_funnel_fast import FunnelTokenizerFast

   try:
      if not is_torch_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .modeling_funnel import (
          FUNNEL_PRETRAINED_MODEL_ARCHIVE_LIST,
          FunnelBaseModel,
          FunnelForMaskedLM,
          FunnelForMultipleChoice,
          FunnelForPreTraining,
          FunnelForQuestionAnswering,
          FunnelForSequenceClassification,
          FunnelForTokenClassification,
          FunnelModel,
          FunnelPreTrainedModel,
          load_tf_weights_in_funnel,
      )

   try:
      if not is_tf_available():
         raise OptionalDependencyNotAvailable()
   except OptionalDependencyNotAvailable:
      pass
   else:
      from .modeling_tf_funnel import (
          TF_FUNNEL_PRETRAINED_MODEL_ARCHIVE_LIST,
          TFFunnelBaseModel,
          TFFunnelForMaskedLM,
          TFFunnelForMultipleChoice,
          TFFunnelForPreTraining,
          TFFunnelForQuestionAnswering,
          TFFunnelForSequenceClassification,
          TFFunnelForTokenClassification,
          TFFunnelModel,
          TFFunnelPreTrainedModel,
      )

else:
   import sys

   A_		:		Any		     =			_LazyModule(__name__, globals()['__file__'], _import_structure, module_spec=__spec__)