





"""simple docstring"""



import heapq
import sys

import numpy as np

a_			=      tuple[int, int]






class 		__snake_case :





 """simple docstring"""


 def __init__(   self  ):



     '''simple docstring'''




     __A   :						Any									=					[]
     __A   :						List[str]									=					set()

 def  UpperCamelCase__(   self  ):



     '''simple docstring'''




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

 def  UpperCamelCase__(   self  ):



     '''simple docstring'''




     return len(self.elements  ) == 0

 def  UpperCamelCase__(   self ,						__lowerCamelCase ,						__lowerCamelCase  ):



     '''simple docstring'''




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

 def  UpperCamelCase__(   self ,						__lowerCamelCase  ):



     '''simple docstring'''




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

 def  UpperCamelCase__(   self  ):



     '''simple docstring'''




     return self.elements[0][1]







 def  UpperCamelCase__(   self  ):



     '''simple docstring'''




     ((__A)			,	(__A))   :						Tuple									=					heapq.heappop(self.elements  )
     self.set.remove(UpperCamelCase__  )
     return (priority, item)







def 		__lowercase					(       snake_case_  :  TPos    ,snake_case_  :  TPos						)       ->Any:



    '''simple docstring'''







    __A   :						Optional[int]									=					np.array(__UpperCamelCase						)
    __A   :						Optional[Any]									=					np.array(__UpperCamelCase						)
    return np.linalg.norm(a - b						)







def 		__lowercase					(       snake_case_  :  TPos    ,snake_case_  :  TPos						)       ->List[Any]:



    '''simple docstring'''







    return consistent_heuristic(__UpperCamelCase    ,__UpperCamelCase						) // t







def 		__lowercase					(       snake_case_  :  TPos    ,snake_case_  :  TPos						)       ->List[Any]:



    '''simple docstring'''







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







def 		__lowercase					(       snake_case_  :  TPos    ,snake_case_  :  int    ,snake_case_  :  TPos    ,snake_case_  :  dict[TPos, float]						)       ->List[str]:



    '''simple docstring'''







    __A   :						Optional[Any]									=					g_function[start] + Wa * heuristics[i](__UpperCamelCase    ,__UpperCamelCase						)
    return ans







def 		__lowercase					(       snake_case_  :  Dict    ,snake_case_  :  List[Any]    ,snake_case_  :  int						)       ->Optional[Any]:



    '''simple docstring'''







    __A   :						Tuple									=					np.chararray((n, n)						)
    for i in range(__UpperCamelCase						):
        for j in range(__UpperCamelCase						):
            __A   :						List[Any]									=					'''*'''

    for i in range(__UpperCamelCase						):
        for j in range(__UpperCamelCase						):
            if (j, (n - 1) - i) in blocks:
                __A   :						List[Any]									=					'''#'''

    __A   :						int									=					'''-'''
    __A   :						Union[str, Any]									=					back_pointer[goal]
    while x != start:
        ((__A)			,	(__A))   :						Dict									=					x
        # print(x)
        __A   :						Optional[int]									=					'''-'''
        __A   :						Any									=					back_pointer[x]
    __A   :						Optional[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:-'''						)
    __A   :						List[str]									=					back_pointer[goal]
    while x != start:
        print(__UpperCamelCase    ,end=''' '''						)
        __A   :						List[Any]									=					back_pointer[x]
    print(__UpperCamelCase						)
    sys.exit()







def 		__lowercase					(       snake_case_  :  TPos						)       ->Union[str, Any]:



    '''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					(       snake_case_  :  str    ,snake_case_  :  Dict    ,snake_case_  :  List[Any]    ,snake_case_  :  str    ,snake_case_  :  Optional[Any]    ,snake_case_  :  List[Any]    ,snake_case_  :  Union[str, Any]    ,snake_case_  :  str    ,)       ->int:



    '''simple docstring'''







    for itera in range(__UpperCamelCase						):
        open_list[itera].remove_element(__UpperCamelCase						)
    # print("s", s)
    # print("j", j)
    ((__A)			,	(__A))   :						Dict									=					s
    __A   :						Any									=					(x - 1, y)
    __A   :						Tuple									=					(x + 1, y)
    __A   :						Dict									=					(x, y + 1)
    __A   :						Dict									=					(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						)
                __A   :						Optional[int]									=					-1
                __A   :						int									=					float('''inf'''						)

            if valid(__UpperCamelCase						) and g_function[neighbours] > g_function[s] + 1:
                __A   :						str									=					g_function[s] + 1
                __A   :						Any									=					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 		__lowercase					(       )       ->List[str]:



    '''simple docstring'''







    __A   :						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


a_			=      {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

a_			=      [
    (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_			=      make_common_ground()


a_			=      blocks_blk
# hyper parameters
a_			=      1
a_			=      1
a_			=      20
a_			=      3  # one consistent and two other inconsistent

# start and end destination
a_			=      (0, 0)
a_			=      (n - 1, n - 1)

a_			=      1







def 		__lowercase					(       snake_case_  :  TPos    ,snake_case_  :  TPos    ,snake_case_  :  int						)       ->int:



    '''simple docstring'''







    __A   :						Dict									=					{start: 0, goal: float('''inf'''						)}
    __A   :						List[str]									=					{start: -1, goal: -1}
    __A   :						Optional[Any]									=					[]
    __A   :						str									=					set()

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

    __A   :						List[Any]									=					[]
    __A   :						Dict									=					[]
    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:
                    __A			,	__A   :						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:
                    __A   :						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 typing import TYPE_CHECKING

from ....utils import _LazyModule


a_			=      {"""tokenization_tapex""": ["""TapexTokenizer"""]}


if TYPE_CHECKING:
       from .tokenization_tapex import TapexTokenizer


else:
       import sys

       a_			=      _LazyModule(__name__, globals()["""__file__"""], _import_structure)




