



from __future__ import annotations

__snake_case						:str      		=     [
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]





def      __snake_case	(			_UpperCAmelCase   , _UpperCAmelCase   , _UpperCAmelCase   , _UpperCAmelCase   , _UpperCAmelCase   , ):
    __a						       =				[
        [0 for col in range(len(grid[0]				)				)] for row in range(len(_UpperCAmelCase				)				)
    ]  # the reference grid
    __a						       =				1
    __a						       =				[
        [0 for col in range(len(grid[0]				)				)] for row in range(len(_UpperCAmelCase				)				)
    ]  # the action grid

    __a						       =				init[0]
    __a						       =				init[1]
    __a						       =				0
    __a						       =				g + heuristic[x][y]  # cost from starting cell to destination cell
    __a						       =				[[f, g, x, y]]

    __a						       =				False  # flag that is set when search is complete
    __a						       =				False  # flag set if we can't find expand

    while not found and not resign:
        if len(_UpperCAmelCase				) == 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()
            __a						       =				cell.pop()
            __a						       =				next_cell[2]
            __a						       =				next_cell[3]
            __a						       =				next_cell[1]

            if x == goal[0] and y == goal[1]:
                __a						       =				True
            else:
                for i in range(len(_UpperCAmelCase				)				):  # to try out different valid actions
                    __a						       =				x + DIRECTIONS[i][0]
                    __a						       =				y + DIRECTIONS[i][1]
                    if xa >= 0 and xa < len(_UpperCAmelCase				) and ya >= 0 and ya < len(grid[0]				):
                        if closed[xa][ya] == 0 and grid[xa][ya] == 0:
                            __a						       =				g + cost
                            __a						       =				ga + heuristic[xa][ya]
                            cell.append([fa, ga, xa, ya]				)
                            __a						       =				1
                            __a						       =				i
    __a						       =				[]
    __a						       =				goal[0]
    __a						       =				goal[1]
    invpath.append([x, y]				)  # we get the reverse path from here
    while x != init[0] or y != init[1]:
        __a						       =				x - DIRECTIONS[action[x][y]][0]
        __a						       =				y - DIRECTIONS[action[x][y]][1]
        __a						       =				xa
        __a						       =				ya
        invpath.append([x, y]				)

    __a						       =				[]
    for i in range(len(_UpperCAmelCase				)				):
        path.append(invpath[len(_UpperCAmelCase				) - 1 - i]				)
    return path, action


if __name__ == "__main__":
 __snake_case						:Dict      		=     [
     [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],
 ]

 __snake_case						:List[Any]      		=     [0, 0]
 # all coordinates are given in format [y,x]
 __snake_case						:Tuple      		=     [len(grid) - 1, len(grid[0]) - 1]
 __snake_case						:Any      		=     1

 # the cost map which pushes the path closer to the goal
 __snake_case						:Optional[int]      		=     [[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])):
   __snake_case						:Union[str, Any]      		=     abs(i - goal[0]) + abs(j - goal[1])
   if grid[i][j] == 1:
    # added extra penalty in the heuristic map
    __snake_case						:int      		=     99

 __snake_case		,__snake_case						:int      		=     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 os







def 		lowerCAmelCase_				(   ):




    '''simple docstring'''



    A       :   List[Any]					=						os.path.join(os.path.dirname(snake_case__						)		,				'''num.txt'''						)
    with open(snake_case__						) as file_hand:
        return str(sum(int(snake_case__						) for line in file_hand						)						)[:10]


if __name__ == "__main__":
      print(solution())




