





import heapq
import sys

import numpy as np

UpperCAmelCase_								=							tuple[int, int]





class      lowerCAmelCase						:



     def __init__(					self       ):
            _A=	[]
            _A=	set()



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



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



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



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



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





     def 			a__  (					self       ):
            ((_A),			(_A))=	heapq.heappop(self.elements       )
            self.set.remove(lowerCAmelCase__       )
            return (priority, item)


def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Optional[Any]:




       '''simple docstring'''






       _A=	np.array(lowerCAmelCase_   )
       _A=	np.array(lowerCAmelCase_   )
       return np.linalg.norm(a - b   )

def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Optional[int]:




       '''simple docstring'''






       return consistent_heuristic(lowerCAmelCase_       ,					lowerCAmelCase_   ) // t

def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Dict:




       '''simple docstring'''






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

def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Any:




       '''simple docstring'''






       _A=	g_function[start] + Wa * heuristics[i](lowerCAmelCase_       ,					lowerCAmelCase_   )
       return ans

def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Tuple:




       '''simple docstring'''






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

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

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

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

def 							UpperCamelCase				(    lowerCAmelCase_   )		->						Optional[Any]:




       '''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 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_       ,					)		->						Optional[int]:




       '''simple docstring'''






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

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

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

def 							UpperCamelCase				(    )		->						Dict:




       '''simple docstring'''






       _A=	[]
       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


UpperCAmelCase_								=							{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

UpperCAmelCase_								=							[
    (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),
]
UpperCAmelCase_								=							make_common_ground()


UpperCAmelCase_								=							blocks_blk
# hyper parameters
UpperCAmelCase_								=							1
UpperCAmelCase_								=							1
UpperCAmelCase_								=							20
UpperCAmelCase_								=							3  # one consistent and two other inconsistent

# start and end destination
UpperCAmelCase_								=							(0, 0)
UpperCAmelCase_								=							(n - 1, n - 1)

UpperCAmelCase_								=							1

def 							UpperCamelCase				(    lowerCAmelCase_       ,					lowerCAmelCase_       ,					lowerCAmelCase_   )		->						Any:




       '''simple docstring'''






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

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

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


UpperCAmelCase_								=							{
    '''configuration_ernie''': ['''ERNIE_PRETRAINED_CONFIG_ARCHIVE_MAP''', '''ErnieConfig''', '''ErnieOnnxConfig'''],
}

try:
      if not is_torch_available():
            raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
      pass
else:
      UpperCAmelCase_								=							[
          '''ERNIE_PRETRAINED_MODEL_ARCHIVE_LIST''',
          '''ErnieForCausalLM''',
          '''ErnieForMaskedLM''',
          '''ErnieForMultipleChoice''',
          '''ErnieForNextSentencePrediction''',
          '''ErnieForPreTraining''',
          '''ErnieForQuestionAnswering''',
          '''ErnieForSequenceClassification''',
          '''ErnieForTokenClassification''',
          '''ErnieModel''',
          '''ErniePreTrainedModel''',
      ]

if TYPE_CHECKING:
      from .configuration_ernie import ERNIE_PRETRAINED_CONFIG_ARCHIVE_MAP, ErnieConfig, ErnieOnnxConfig

      try:
            if not is_torch_available():
                  raise OptionalDependencyNotAvailable()
      except OptionalDependencyNotAvailable:
            pass
      else:
            from .modeling_ernie import (
                ERNIE_PRETRAINED_MODEL_ARCHIVE_LIST,
                ErnieForCausalLM,
                ErnieForMaskedLM,
                ErnieForMultipleChoice,
                ErnieForNextSentencePrediction,
                ErnieForPreTraining,
                ErnieForQuestionAnswering,
                ErnieForSequenceClassification,
                ErnieForTokenClassification,
                ErnieModel,
                ErniePreTrainedModel,
            )

else:
      import sys

      UpperCAmelCase_								=							_LazyModule(__name__, globals()['''__file__'''], _import_structure, module_spec=__spec__)