


'''simple docstring'''

import heapq
import sys

import numpy as np

lowerCamelCase							:   List[Any]  						=	tuple[int, int]
class   __lowerCAmelCase						:





      '''simple docstring'''






      def __init__(self    :    Dict ):

             '''simple docstring'''







             lowercase__      			= []
             lowercase__      			= set()



      def       UpperCamelCase__		(self    :    Union[str, Any] ):

             '''simple docstring'''







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



      def       UpperCamelCase__		(self    :    str ):

             '''simple docstring'''







             return len(self.elements ) == 0



      def       UpperCamelCase__		(self    :    Tuple   ,						UpperCamelCase    :    Tuple   ,						UpperCamelCase    :    Optional[int] ):

             '''simple docstring'''







             if item not in self.set:
                    heapq.heappush(self.elements   ,						(priority, item) )
                    self.set.add(UpperCamelCase )
             else:
                    # update
                    # print("update", item)
                    lowercase__      			= []
                    ((lowercase__)			,(lowercase__))      			= heapq.heappop(self.elements )
                    while x != item:
                           temp.append((pri, x) )
                           ((lowercase__)			,(lowercase__))      			= heapq.heappop(self.elements )
                    temp.append((priority, item) )
                    for pro, xxx in temp:
                           heapq.heappush(self.elements   ,						(pro, xxx) )



      def       UpperCamelCase__		(self    :    Tuple   ,						UpperCamelCase    :    int ):

             '''simple docstring'''







             if item in self.set:
                    self.set.remove(UpperCamelCase )
                    lowercase__      			= []
                    ((lowercase__)			,(lowercase__))      			= heapq.heappop(self.elements )
                    while x != item:
                           temp.append((pro, x) )
                           ((lowercase__)			,(lowercase__))      			= heapq.heappop(self.elements )
                    for prito, yyy in temp:
                           heapq.heappush(self.elements   ,						(prito, yyy) )



      def       UpperCamelCase__		(self    :    Tuple ):

             '''simple docstring'''







             return self.elements[0][1]






      def       UpperCamelCase__		(self    :    str ):

             '''simple docstring'''







             ((lowercase__)			,(lowercase__))      			= heapq.heappop(self.elements )
             self.set.remove(UpperCamelCase )
             return (priority, item)






def _SCREAMING_SNAKE_CASE      (A  , A       )       ->       List[Any]:






       """simple docstring"""







       lowercase__      			= np.array(A       )
       lowercase__      			= np.array(A       )
       return np.linalg.norm(a - b       )

def _SCREAMING_SNAKE_CASE      (A  , A       )       ->       Optional[int]:






       """simple docstring"""







       return consistent_heuristic(A  , A       ) // t

def _SCREAMING_SNAKE_CASE      (A  , A       )       ->       List[str]:






       """simple docstring"""







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

def _SCREAMING_SNAKE_CASE      (A  , A  , A  , A       )       ->       Tuple:






       """simple docstring"""







       lowercase__      			= g_function[start] + Wa * heuristics[i](A  , A       )
       return ans

def _SCREAMING_SNAKE_CASE      (A  , A  , A       )       ->       Union[str, Any]:






       """simple docstring"""







       lowercase__      			= np.chararray((n, n)       )
       for i in range(A       ):
              for j in range(A       ):
                     lowercase__      			= '''*'''

       for i in range(A       ):
              for j in range(A       ):
                     if (j, (n - 1) - i) in blocks:
                            lowercase__      			= '''#'''

       lowercase__      			= '''-'''
       lowercase__      			= back_pointer[goal]
       while x != start:
              ((lowercase__)			,(lowercase__))      			= x
              # print(x)
              lowercase__      			= '''-'''
              lowercase__      			= back_pointer[x]
       lowercase__      			= '''-'''

       for i in range(A       ):
              for j in range(A       ):
                     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:-'''       )
       lowercase__      			= back_pointer[goal]
       while x != start:
              print(A  , end=''' '''       )
              lowercase__      			= back_pointer[x]
       print(A       )
       sys.exit()

def _SCREAMING_SNAKE_CASE      (A       )       ->       Optional[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 _SCREAMING_SNAKE_CASE      (A  , A  , A  , A  , A  , A  , A  , A  , )       ->       int:






       """simple docstring"""







       for itera in range(A       ):
              open_list[itera].remove_element(A       )
       # print("s", s)
       # print("j", j)
       ((lowercase__)			,(lowercase__))      			= s
       lowercase__      			= (x - 1, y)
       lowercase__      			= (x + 1, y)
       lowercase__      			= (x, y + 1)
       lowercase__      			= (x, y - 1)

       for neighbours in [left, right, up, down]:
              if neighbours not in blocks:
                     if valid(A       ) and neighbours not in visited:
                            # print("neighbour", neighbours)
                            visited.add(A       )
                            lowercase__      			= -1
                            lowercase__      			= float('''inf'''       )

                     if valid(A       ) and g_function[neighbours] > g_function[s] + 1:
                            lowercase__      			= g_function[s] + 1
                            lowercase__      			= s
                            if neighbours not in close_list_anchor:
                                   open_list[0].put(A  , key(A  , 0  , A  , A       )       )
                                   if neighbours not in close_list_inad:
                                          for var in range(1  , A       ):
                                                 if key(A  , A  , A  , A       ) <= Wa * key(
                                                     A  , 0  , A  , A       ):
                                                        open_list[j].put(
                                                            A  , key(A  , A  , A  , A       )       )

def _SCREAMING_SNAKE_CASE      ()       ->       List[Any]:






       """simple docstring"""







       lowercase__      			= []
       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


lowerCamelCase							:   Dict  						=	{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

lowerCamelCase							:   Union[str, Any]  						=	[
    (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),
]
lowerCamelCase							:   str  						=	make_common_ground()


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

# start and end destination
lowerCamelCase							:   Dict  						=	(0, 0)
lowerCamelCase							:   Optional[Any]  						=	(n - 1, n - 1)

lowerCamelCase							:   Any  						=	1

def _SCREAMING_SNAKE_CASE      (A  , A  , A       )       ->       Tuple:






       """simple docstring"""







       lowercase__      			= {start: 0, goal: float('''inf'''       )}
       lowercase__      			= {start: -1, goal: -1}
       lowercase__      			= []
       lowercase__      			= set()

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

       lowercase__      			= []
       lowercase__      			= []
       while open_list[0].minkey() < float('''inf'''       ):
              for i in range(1  , A       ):
                     # 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(A  , A  , A       )
                            else:
                                   lowercase__			,lowercase__      			= open_list[i].top_show()
                                   visited.add(A       )
                                   expand_state(
                                       A  , A  , A  , A  , A  , A  , A  , A  , )
                                   close_list_inad.append(A       )
                     else:
                            if g_function[goal] <= open_list[0].minkey():
                                   if g_function[goal] < float('''inf'''       ):
                                          do_something(A  , A  , A       )
                            else:
                                   lowercase__      			= open_list[0].top_show()
                                   visited.add(A       )
                                   expand_state(
                                       A  , 0  , A  , A  , A  , A  , A  , A  , )
                                   close_list_anchor.append(A       )
       print('''No path found to goal'''       )
       print()
       for i in range(n - 1  , -1  , -1       ):
              for j in range(A       ):
                     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'''

# Lint as: python3
import itertools
import os
import re


lowerCamelCase							:   Any  						=	re.compile(R'([A-Z]+)([A-Z][a-z])')
lowerCamelCase							:   str  						=	re.compile(R'([a-z\d])([A-Z])')

lowerCamelCase							:   Optional[int]  						=	re.compile(R'(?<!_)_(?!_)')
lowerCamelCase							:   List[Any]  						=	re.compile(R'(_{2,})')

lowerCamelCase							:   str  						=	R'^\w+(\.\w+)*$'

lowerCamelCase							:   Dict  						=	R'<>:/\|?*'

def _SCREAMING_SNAKE_CASE      (A       )       ->       Any:






       """simple docstring"""







       lowercase__      			= _uppercase_uppercase_re.sub(R'''\1_\2'''  , A       )
       lowercase__      			= _lowercase_uppercase_re.sub(R'''\1_\2'''  , A       )
       return name.lower()

def _SCREAMING_SNAKE_CASE      (A       )       ->       Tuple:






       """simple docstring"""







       lowercase__      			= _single_underscore_re.split(A       )
       lowercase__      			= [_multiple_underscores_re.split(A       ) for n in name]
       return "".join(n.capitalize() for n in itertools.chain.from_iterable(A       ) if n != ''''''       )

def _SCREAMING_SNAKE_CASE      (A       )       ->       Tuple:






       """simple docstring"""







       if os.path.basename(A       ) != name:
              raise ValueError(f"Should be a dataset name, not a path: {name}"       )
       return camelcase_to_snakecase(A       )

def _SCREAMING_SNAKE_CASE      (A  , A       )       ->       Optional[Any]:






       """simple docstring"""







       if os.path.basename(A       ) != name:
              raise ValueError(f"Should be a dataset name, not a path: {name}"       )
       if not re.match(_split_re  , A       ):
              raise ValueError(f"Split name should match '{_split_re}'' but got '{split}'."       )
       return f"{filename_prefix_for_name(A       )}-{split}"

def _SCREAMING_SNAKE_CASE      (A  , A  , A  , A=None       )       ->       List[str]:






       """simple docstring"""







       lowercase__      			= filename_prefix_for_split(A  , A       )
       if filetype_suffix:
              prefix += f".{filetype_suffix}"
       lowercase__      			= os.path.join(A  , A       )
       return f"{filepath}*"

def _SCREAMING_SNAKE_CASE      (A  , A  , A  , A=None  , A=None       )       ->       Optional[Any]:






       """simple docstring"""







       lowercase__      			= filename_prefix_for_split(A  , A       )
       lowercase__      			= os.path.join(A  , A       )

       if shard_lengths:
              lowercase__      			= len(A       )
              lowercase__      			= [f"{prefix}-{shard_id:05d}-of-{num_shards:05d}" for shard_id in range(A       )]
              if filetype_suffix:
                     lowercase__      			= [filename + f".{filetype_suffix}" for filename in filenames]
              return filenames
       else:
              lowercase__      			= prefix
              if filetype_suffix:
                     filename += f".{filetype_suffix}"
              return [filename]




