



import heapq
import sys

import numpy as np

lowerCAmelCase__		:					Optional[int]							=tuple[int, int]







class        UpperCAmelCase_  :

						'''simple docstring'''




						def __init__(   self		):







													'''simple docstring'''

													__SCREAMING_SNAKE_CASE									= []
													__SCREAMING_SNAKE_CASE									= set()






						def 	_A     (   self		):







													'''simple docstring'''

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






						def 	_A     (   self		):







													'''simple docstring'''

													return len(self.elements		) == 0






						def 	_A     (   self				,							_A				,							_A		):







													'''simple docstring'''

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






						def 	_A     (   self				,							_A		):







													'''simple docstring'''

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






						def 	_A     (   self		):







													'''simple docstring'''

													return self.elements[0][1]






						def 	_A     (   self		):







													'''simple docstring'''

													((__SCREAMING_SNAKE_CASE)							,	(__SCREAMING_SNAKE_CASE))									= heapq.heappop(self.elements		)
													self.set.remove(_A		)
													return (priority, item)







def      __lowercase       (			a__							,       a__       )    ->			int:
							# euclidean distance
							__SCREAMING_SNAKE_CASE									= np.array(a__       )
							__SCREAMING_SNAKE_CASE									= np.array(a__       )
							return np.linalg.norm(a - b       )






def      __lowercase       (			a__							,       a__       )    ->			Optional[int]:
							# integer division by time variable
							return consistent_heuristic(a__							,       a__       ) // t






def      __lowercase       (			a__							,       a__       )    ->			List[Any]:
							# manhattan distance
							return abs(p[0] - goal[0]       ) + abs(p[1] - goal[1]       )






def      __lowercase       (			a__							,       a__							,       a__							,       a__       )    ->			int:
							__SCREAMING_SNAKE_CASE									= g_function[start] + Wa * heuristics[i](a__							,       a__       )
							return ans






def      __lowercase       (			a__							,       a__							,       a__       )    ->			Dict:
							__SCREAMING_SNAKE_CASE									= np.chararray((n, n)       )
							for i in range(a__       ):
														for j in range(a__       ):
																					__SCREAMING_SNAKE_CASE									= '*'

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

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

							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:-'       )
							__SCREAMING_SNAKE_CASE									= back_pointer[goal]
							while x != start:
														print(a__							,       end=' '       )
														__SCREAMING_SNAKE_CASE									= back_pointer[x]
							print(a__       )
							sys.exit()






def      __lowercase       (			a__       )    ->			Optional[int]:
							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       (			a__							,       a__							,       a__							,       a__							,       a__							,       a__							,       a__							,       a__							,       )    ->			str:
							for itera in range(a__       ):
														open_list[itera].remove_element(a__       )
							# print("s", s)
							# print("j", j)
							((__SCREAMING_SNAKE_CASE)							,	(__SCREAMING_SNAKE_CASE))									= s
							__SCREAMING_SNAKE_CASE									= (x - 1, y)
							__SCREAMING_SNAKE_CASE									= (x + 1, y)
							__SCREAMING_SNAKE_CASE									= (x, y + 1)
							__SCREAMING_SNAKE_CASE									= (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__       )
																												__SCREAMING_SNAKE_CASE									= -1
																												__SCREAMING_SNAKE_CASE									= float('inf'       )

																					if valid(a__       ) and g_function[neighbours] > g_function[s] + 1:
																												__SCREAMING_SNAKE_CASE									= g_function[s] + 1
																												__SCREAMING_SNAKE_CASE									= 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      __lowercase       (			)    ->			Any:
							__SCREAMING_SNAKE_CASE									= []
							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__		:					Optional[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__		:					Any							=blocks_blk
# hyper parameters
lowerCAmelCase__		:					Dict							=1
lowerCAmelCase__		:					Tuple							=1
lowerCAmelCase__		:					Optional[Any]							=20
lowerCAmelCase__		:					Optional[Any]							=3  # one consistent and two other inconsistent

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

lowerCAmelCase__		:					List[Any]							=1






def      __lowercase       (			a__							,       a__							,       a__       )    ->			Tuple:
							__SCREAMING_SNAKE_CASE									= {start: 0, goal: float('inf'       )}
							__SCREAMING_SNAKE_CASE									= {start: -1, goal: -1}
							__SCREAMING_SNAKE_CASE									= []
							__SCREAMING_SNAKE_CASE									= set()

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

							__SCREAMING_SNAKE_CASE									= []
							__SCREAMING_SNAKE_CASE									= []
							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:
																																			__SCREAMING_SNAKE_CASE							,	__SCREAMING_SNAKE_CASE									= 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:
																																			__SCREAMING_SNAKE_CASE									= 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)











from typing import TYPE_CHECKING

from ...utils import (
    OptionalDependencyNotAvailable,
    _LazyModule,
    is_flax_available,
    is_tf_available,
    is_torch_available,
)


lowerCAmelCase__		:					str							={'''configuration_vit_mae''': ['''VIT_MAE_PRETRAINED_CONFIG_ARCHIVE_MAP''', '''ViTMAEConfig''']}

try:
			if not is_torch_available():
						raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
			pass
else:
			lowerCAmelCase__		:					Optional[int]							=[
			    '''VIT_MAE_PRETRAINED_MODEL_ARCHIVE_LIST''',
			    '''ViTMAEForPreTraining''',
			    '''ViTMAELayer''',
			    '''ViTMAEModel''',
			    '''ViTMAEPreTrainedModel''',
			]

try:
			if not is_tf_available():
						raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
			pass
else:
			lowerCAmelCase__		:					List[str]							=[
			    '''TFViTMAEForPreTraining''',
			    '''TFViTMAEModel''',
			    '''TFViTMAEPreTrainedModel''',
			]

if TYPE_CHECKING:
			from .configuration_vit_mae import VIT_MAE_PRETRAINED_CONFIG_ARCHIVE_MAP, ViTMAEConfig

			try:
						if not is_torch_available():
									raise OptionalDependencyNotAvailable()
			except OptionalDependencyNotAvailable:
						pass
			else:
						from .modeling_vit_mae import (
						    VIT_MAE_PRETRAINED_MODEL_ARCHIVE_LIST,
						    ViTMAEForPreTraining,
						    ViTMAELayer,
						    ViTMAEModel,
						    ViTMAEPreTrainedModel,
						)

			try:
						if not is_tf_available():
									raise OptionalDependencyNotAvailable()
			except OptionalDependencyNotAvailable:
						pass
			else:
						from .modeling_tf_vit_mae import TFViTMAEForPreTraining, TFViTMAEModel, TFViTMAEPreTrainedModel


else:
			import sys

			lowerCAmelCase__		:					Optional[int]							=_LazyModule(__name__, globals()['''__file__'''], _import_structure, module_spec=__spec__)






