





import heapq
import sys

import numpy as np

_A :   Dict  			=  tuple[int, int]


class        __SCREAMING_SNAKE_CASE      :







       def __init__(				self					:     List[Any]      )       ->Any:
          lowerCamelCase__       :						Optional[int]        =							[]
          lowerCamelCase__       :						Dict        =							set()







       def 						__lowerCamelCase   (				self					:     Any      )       ->List[str]:
          if not self.empty():
             return self.elements[0][0]
          else:
             return float('''inf'''      )







       def 						__lowerCamelCase   (				self					:     List[str]      )       ->Tuple:
          return len(self.elements      ) == 0







       def 						__lowerCamelCase   (				self					:     str		, A					:     List[Any]		, A					:     Union[str, Any]      )       ->Any:
          if item not in self.set:
             heapq.heappush(self.elements		, (priority, item)      )
             self.set.add(A      )
          else:
             # update
             # print("update", item)
             lowerCamelCase__       :						int        =							[]
             ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						List[Any]        =							heapq.heappop(self.elements      )
             while x != item:
                temp.append((pri, x)      )
                ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						int        =							heapq.heappop(self.elements      )
             temp.append((priority, item)      )
             for pro, xxx in temp:
                heapq.heappush(self.elements		, (pro, xxx)      )







       def 						__lowerCamelCase   (				self					:     Optional[Any]		, A					:     Union[str, Any]      )       ->int:
          if item in self.set:
             self.set.remove(A      )
             lowerCamelCase__       :						Optional[int]        =							[]
             ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						Any        =							heapq.heappop(self.elements      )
             while x != item:
                temp.append((pro, x)      )
                ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						Dict        =							heapq.heappop(self.elements      )
             for prito, yyy in temp:
                heapq.heappush(self.elements		, (prito, yyy)      )







       def 						__lowerCamelCase   (				self					:     List[Any]      )       ->Optional[Any]:
          return self.elements[0][1]







       def 						__lowerCamelCase   (				self					:     str      )       ->List[str]:
          ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						Tuple        =							heapq.heappop(self.elements      )
          self.set.remove(A      )
          return (priority, item)



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase					)    ->    int:







   """simple docstring"""
   # euclidean distance
   lowerCamelCase__       :						int        =							np.array(UpperCAmelCase					)
   lowerCamelCase__       :						int        =							np.array(UpperCAmelCase					)
   return np.linalg.norm(a - b					)



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase					)    ->    Union[str, Any]:







   """simple docstring"""
   # integer division by time variable
   return consistent_heuristic(UpperCAmelCase      ,  UpperCAmelCase					) // t



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase					)    ->    Union[str, Any]:







   """simple docstring"""
   # manhattan distance
   return abs(p[0] - goal[0]					) + abs(p[1] - goal[1]					)



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase					)    ->    str:







   """simple docstring"""
   lowerCamelCase__       :						Dict        =							g_function[start] + Wa * heuristics[i](UpperCAmelCase      ,  UpperCAmelCase					)
   return ans



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase					)    ->    List[str]:







   """simple docstring"""
   lowerCamelCase__       :						str        =							np.chararray((n, n)					)
   for i in range(UpperCAmelCase					):
      for j in range(UpperCAmelCase					):
         lowerCamelCase__       :						List[Any]        =							'''*'''

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

   lowerCamelCase__       :						Dict        =							'''-'''
   lowerCamelCase__       :						Tuple        =							back_pointer[goal]
   while x != start:
      ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						Tuple        =							x
      # print(x)
      lowerCamelCase__       :						Optional[int]        =							'''-'''
      lowerCamelCase__       :						Union[str, Any]        =							back_pointer[x]
   lowerCamelCase__       :						Any        =							'''-'''

   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:-'''					)
   lowerCamelCase__       :						Tuple        =							back_pointer[goal]
   while x != start:
      print(UpperCAmelCase      ,  end=''' '''					)
      lowerCamelCase__       :						List[Any]        =							back_pointer[x]
   print(UpperCAmelCase					)
   sys.exit()



def 	_a						(   UpperCAmelCase					)    ->    int:







   """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 	_a						(   UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase      ,  )    ->    List[Any]:







   """simple docstring"""
   for itera in range(UpperCAmelCase					):
      open_list[itera].remove_element(UpperCAmelCase					)
   # print("s", s)
   # print("j", j)
   ((lowerCamelCase__)       ,							(lowerCamelCase__))       :						str        =							s
   lowerCamelCase__       :						str        =							(x - 1, y)
   lowerCamelCase__       :						Any        =							(x + 1, y)
   lowerCamelCase__       :						Tuple        =							(x, y + 1)
   lowerCamelCase__       :						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					)
            lowerCamelCase__       :						Optional[int]        =							-1
            lowerCamelCase__       :						Optional[Any]        =							float('''inf'''					)

         if valid(UpperCAmelCase					) and g_function[neighbours] > g_function[s] + 1:
            lowerCamelCase__       :						Tuple        =							g_function[s] + 1
            lowerCamelCase__       :						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 	_a						(   )    ->    Union[str, Any]:







   """simple docstring"""
   lowerCamelCase__       :						Any        =							[]
   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 :   int  			=  {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

_A :   List[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 :   int  			=  make_common_ground()


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

# start and end destination
_A :   Tuple  			=  (0, 0)
_A :   Any  			=  (n - 1, n - 1)

_A :   int  			=  1



def 	_a						(   UpperCAmelCase      ,  UpperCAmelCase      ,  UpperCAmelCase					)    ->    List[str]:







   """simple docstring"""
   lowerCamelCase__       :						int        =							{start: 0, goal: float('''inf'''					)}
   lowerCamelCase__       :						List[Any]        =							{start: -1, goal: -1}
   lowerCamelCase__       :						List[Any]        =							[]
   lowerCamelCase__       :						Tuple        =							set()

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

   lowerCamelCase__       :						list[int]        =							[]
   lowerCamelCase__       :						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:
               lowerCamelCase__       ,							lowerCamelCase__       :						List[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:
               lowerCamelCase__       :						Any        =							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)










import pprint

import requests

_A :   Any  			=  'https://zenquotes.io/api'



def 	_a						(   )    ->    list:







   """simple docstring"""
   return requests.get(API_ENDPOINT_URL + '''/today'''					).json()



def 	_a						(   )    ->    list:







   """simple docstring"""
   return requests.get(API_ENDPOINT_URL + '''/random'''					).json()


if __name__ == "__main__":
       _A :   Optional[Any]  			=  random_quotes()
       pprint.pprint(response)



