





from __future__ import annotations

__A     =    list[tuple[int, int]]

__A     =    [
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

__A     =    ([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right



class        _SCREAMING_SNAKE_CASE						:







 '''simple docstring'''

 def __init__(self    :       Dict	,			UpperCAmelCase_    :       int	,			UpperCAmelCase_    :       int	,			UpperCAmelCase_    :       int	,			UpperCAmelCase_    :       int	,			UpperCAmelCase_    :       float	,			UpperCAmelCase_    :       Node | None	,			)	->Optional[int]:



   '''simple docstring'''



   lowerCamelCase__:				Optional[int]        =pos_x
   lowerCamelCase__:				str        =pos_y
   lowerCamelCase__:				int        =(pos_y, pos_x)
   lowerCamelCase__:				str        =goal_x
   lowerCamelCase__:				Dict        =goal_y
   lowerCamelCase__:				int        =g_cost
   lowerCamelCase__:				str        =parent
   lowerCamelCase__:				List[Any]        =self.calculate_heuristic()

 def 							SCREAMING_SNAKE_CASE_ (self    :       Any)	->float:



   '''simple docstring'''



   lowerCamelCase__:				Optional[int]        =abs(self.pos_x - self.goal_x)
   lowerCamelCase__:				Dict        =abs(self.pos_y - self.goal_y)
   return dx + dy







 def __lt__(self    :       List[str]	,			UpperCAmelCase_    :       Tuple)	->bool:



   '''simple docstring'''



   return self.f_cost < other.f_cost



class        _SCREAMING_SNAKE_CASE						:







 '''simple docstring'''

 def __init__(self    :       List[str]	,			UpperCAmelCase_    :       tuple[int, int]	,			UpperCAmelCase_    :       tuple[int, int])	->str:



   '''simple docstring'''



   lowerCamelCase__:				Dict        =Node(start[1]	,			start[0]	,			goal[1]	,			goal[0]	,			0	,			UpperCAmelCase_)
   lowerCamelCase__:				str        =Node(goal[1]	,			goal[0]	,			goal[1]	,			goal[0]	,			99_999	,			UpperCAmelCase_)

   lowerCamelCase__:				Any        =[self.start]
   lowerCamelCase__:				list[Node]        =[]

   lowerCamelCase__:				Any        =False

 def 							SCREAMING_SNAKE_CASE_ (self    :       Optional[Any])	->Path | None:



   '''simple docstring'''



   while self.open_nodes:
     # Open Nodes are sorted using __lt__
     self.open_nodes.sort()
     lowerCamelCase__:				Optional[Any]        =self.open_nodes.pop(0)

     if current_node.pos == self.target.pos:
       lowerCamelCase__:				int        =True
       return self.retrace_path(UpperCAmelCase_)

     self.closed_nodes.append(UpperCAmelCase_)
     lowerCamelCase__:				List[str]        =self.get_successors(UpperCAmelCase_)

     for child_node in successors:
       if child_node in self.closed_nodes:
         continue

       if child_node not in self.open_nodes:
         self.open_nodes.append(UpperCAmelCase_)
       else:
         # retrieve the best current path
         lowerCamelCase__:				Dict        =self.open_nodes.pop(self.open_nodes.index(UpperCAmelCase_))

         if child_node.g_cost < better_node.g_cost:
           self.open_nodes.append(UpperCAmelCase_)
         else:
           self.open_nodes.append(UpperCAmelCase_)

   if not self.reached:
     return [self.start.pos]
   return None

 def 							SCREAMING_SNAKE_CASE_ (self    :       Union[str, Any]	,			UpperCAmelCase_    :       Node)	->list[Node]:



   '''simple docstring'''



   lowerCamelCase__:				List[Any]        =[]
   for action in delta:
     lowerCamelCase__:				Any        =parent.pos_x + action[1]
     lowerCamelCase__:				List[str]        =parent.pos_y + action[0]

     if not (0 <= pos_x <= len(grid[0]) - 1 and 0 <= pos_y <= len(UpperCAmelCase_) - 1):
       continue

     if grid[pos_y][pos_x] != 0:
       continue

     successors.append(
         Node(
             UpperCAmelCase_	,			UpperCAmelCase_	,			self.target.pos_y	,			self.target.pos_x	,			parent.g_cost + 1	,			UpperCAmelCase_	,			))
   return successors







 def 							SCREAMING_SNAKE_CASE_ (self    :       int	,			UpperCAmelCase_    :       Node | None)	->Path:



   '''simple docstring'''



   lowerCamelCase__:				Optional[int]        =node
   lowerCamelCase__:				List[str]        =[]
   while current_node is not None:
     path.append((current_node.pos_y, current_node.pos_x))
     lowerCamelCase__:				List[Any]        =current_node.parent
   path.reverse()
   return path


if __name__ == "__main__":
     __A     =    (0, 0)
     __A     =    (len(grid) - 1, len(grid[0]) - 1)
     for elem in grid:
          print(elem)

     print("------")

     __A     =    GreedyBestFirst(init, goal)
     __A     =    greedy_bf.search()
     if path:
          for pos_x, pos_y in path:
               __A     =    2

          for elem in grid:
               print(elem)








from ..utils import DummyObject, requires_backends



class        _SCREAMING_SNAKE_CASE						(     metaclass=__SCREAMING_SNAKE_CASE   ):







 '''simple docstring'''
 lowercase_		=      ["torch", "torchsde"]

 def __init__(self    :       Union[str, Any]	,			*UpperCAmelCase_    :       Dict	,			**UpperCAmelCase_    :       Tuple)	->Any:



   '''simple docstring'''



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

 @classmethod
 def 							SCREAMING_SNAKE_CASE_ (cls    :       Dict	,			*UpperCAmelCase_    :       Optional[int]	,			**UpperCAmelCase_    :       Optional[int])	->List[Any]:



   '''simple docstring'''



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







 @classmethod
 def 							SCREAMING_SNAKE_CASE_ (cls    :       Tuple	,			*UpperCAmelCase_    :       Tuple	,			**UpperCAmelCase_    :       Any)	->Any:



   '''simple docstring'''



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

