



"""simple docstring"""

import heapq
import sys

import numpy as np

a_			   =					tuple[int, int]







class    __lowercase     :







						"""simple docstring"""







						def __init__(self       ):
											snake_case_					:		Union[str, Any] 					=					[]
											snake_case_					:		List[str] 					=					set()







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







						def 						__UpperCamelCase							(self       ):
											return len(self.elements       ) == 0







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







						def 						__UpperCamelCase							(self   ,		lowercase__       ):
											if item in self.set:
																self.set.remove(lowercase__       )
																snake_case_					:		List[str] 					=					[]
																(snake_case_)					:		List[Any] 					=					heapq.heappop(self.elements       )
																while x != item:
																					temp.append((pro, x)       )
																					(snake_case_)					:		int 					=					heapq.heappop(self.elements       )
																for prito, yyy in temp:
																					heapq.heappush(self.elements   ,		(prito, yyy)       )







						def 						__UpperCamelCase							(self       ):
											return self.elements[0][1]







						def 						__UpperCamelCase							(self       ):
											(snake_case_)					:		Dict 					=					heapq.heappop(self.elements       )
											self.set.remove(lowercase__       )
											return (priority, item)







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  TPos			):



					"""simple docstring"""





					snake_case_					:		Optional[Any] 					=					np.array(SCREAMING_SNAKE_CASE__			)
					snake_case_					:		Tuple 					=					np.array(SCREAMING_SNAKE_CASE__			)
					return np.linalg.norm(a - b			)







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  TPos			):



					"""simple docstring"""





					return consistent_heuristic(SCREAMING_SNAKE_CASE__				,    SCREAMING_SNAKE_CASE__			) // t







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  TPos			):



					"""simple docstring"""





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







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  int				,    SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  dict[TPos, float]			):



					"""simple docstring"""





					snake_case_					:		int 					=					g_function[start] + Wa * heuristics[i](SCREAMING_SNAKE_CASE__				,    SCREAMING_SNAKE_CASE__			)
					return ans







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  int				,    SCREAMING_SNAKE_CASE__ :  Union[str, Any]				,    SCREAMING_SNAKE_CASE__ :  List[str]			):



					"""simple docstring"""





					snake_case_					:		Optional[Any] 					=					np.chararray((n, n)			)
					for i in range(SCREAMING_SNAKE_CASE__			):
										for j in range(SCREAMING_SNAKE_CASE__			):
															snake_case_					:		Dict 					=					"""*"""

					for i in range(SCREAMING_SNAKE_CASE__			):
										for j in range(SCREAMING_SNAKE_CASE__			):
															if (j, (n - 1) - i) in blocks:
																				snake_case_					:		Dict 					=					"""#"""

					snake_case_					:		Dict 					=					"""-"""
					snake_case_					:		List[Any] 					=					back_pointer[goal]
					while x != start:
										(snake_case_)					:		Union[str, Any] 					=					x
										# print(x)
										snake_case_					:		List[Any] 					=					"""-"""
										snake_case_					:		Optional[Any] 					=					back_pointer[x]
					snake_case_					:		Optional[int] 					=					"""-"""

					for i in range(SCREAMING_SNAKE_CASE__			):
										for j in range(SCREAMING_SNAKE_CASE__			):
															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:-"""			)
					snake_case_					:		int 					=					back_pointer[goal]
					while x != start:
										print(SCREAMING_SNAKE_CASE__				,    end=""" """			)
										snake_case_					:		int 					=					back_pointer[x]
					print(SCREAMING_SNAKE_CASE__			)
					sys.exit()







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos			):



					"""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__      (		SCREAMING_SNAKE_CASE__ :  Tuple				,    SCREAMING_SNAKE_CASE__ :  Optional[Any]				,    SCREAMING_SNAKE_CASE__ :  List[str]				,    SCREAMING_SNAKE_CASE__ :  str				,    SCREAMING_SNAKE_CASE__ :  List[str]				,    SCREAMING_SNAKE_CASE__ :  List[Any]				,    SCREAMING_SNAKE_CASE__ :  int				,    SCREAMING_SNAKE_CASE__ :  Optional[int]				,    ):



					"""simple docstring"""





					for itera in range(SCREAMING_SNAKE_CASE__			):
										open_list[itera].remove_element(SCREAMING_SNAKE_CASE__			)
					# print("s", s)
					# print("j", j)
					(snake_case_)					:		Optional[Any] 					=					s
					snake_case_					:		Union[str, Any] 					=					(x - 1, y)
					snake_case_					:		Any 					=					(x + 1, y)
					snake_case_					:		Tuple 					=					(x, y + 1)
					snake_case_					:		int 					=					(x, y - 1)

					for neighbours in [left, right, up, down]:
										if neighbours not in blocks:
															if valid(SCREAMING_SNAKE_CASE__			) and neighbours not in visited:
																				# print("neighbour", neighbours)
																				visited.add(SCREAMING_SNAKE_CASE__			)
																				snake_case_					:		Dict 					=					-1
																				snake_case_					:		Union[str, Any] 					=					float("""inf"""			)

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







def 							SCREAMING_SNAKE_CASE__      (		):



					"""simple docstring"""





					snake_case_					:		int 					=					[]
					for x in range(1				,    5			):
										for y in range(1				,    6			):
															some_list.append((x, y)			)

					for x in range(1_5				,    2_0			):
										some_list.append((x, 1_7)			)

					for x in range(1_0				,    1_9			):
										for y in range(1				,    1_5			):
															some_list.append((x, y)			)

    # L block
					for x in range(1				,    4			):
										for y in range(1_2				,    1_9			):
															some_list.append((x, y)			)
					for x in range(3				,    1_3			):
										for y in range(1_6				,    1_9			):
															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 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  TPos				,    SCREAMING_SNAKE_CASE__ :  int			):



					"""simple docstring"""





					snake_case_					:		Tuple 					=					{start: 0, goal: float("""inf"""			)}
					snake_case_					:		Tuple 					=					{start: -1, goal: -1}
					snake_case_					:		int 					=					[]
					snake_case_					:		str 					=					set()

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

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

import random







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  int				,    SCREAMING_SNAKE_CASE__ :  float				,    SCREAMING_SNAKE_CASE__ :  bool = False			):



					"""simple docstring"""





					snake_case_					:		dict 					=					{i: [] for i in range(SCREAMING_SNAKE_CASE__			)}

					# if probability is greater or equal than 1, then generate a complete graph
					if probability >= 1:
										return complete_graph(SCREAMING_SNAKE_CASE__			)
					# if probability is lower or equal than 0, then return a graph without edges
					if probability <= 0:
										return graph

					# for each couple of nodes, add an edge from u to v
					# if the number randomly generated is greater than probability probability
					for i in range(SCREAMING_SNAKE_CASE__			):
										for j in range(i + 1				,    SCREAMING_SNAKE_CASE__			):
															if random.random() < probability:
																				graph[i].append(SCREAMING_SNAKE_CASE__			)
																				if not directed:
																									# if the graph is undirected, add an edge in from j to i, either
																									graph[j].append(SCREAMING_SNAKE_CASE__			)
					return graph







def 							SCREAMING_SNAKE_CASE__      (		SCREAMING_SNAKE_CASE__ :  int			):



					"""simple docstring"""





					return {
					    i: [j for j in range(SCREAMING_SNAKE_CASE__			) if i != j] for i in range(SCREAMING_SNAKE_CASE__			)
					}


if __name__ == "__main__":
			import doctest

			doctest.testmod()




