




import numpy as np




class    __lowerCAmelCase       :






       def __init__(   self:					Dict				):
         lowercase    :Optional[Any]      	=						(0, 0)
         lowercase    :str      	=						None
         lowercase    :List[str]      	=						0
         lowercase    :Any      	=						0
         lowercase    :Tuple      	=						0






       def __eq__(   self:					List[Any]       ,					_lowerCAmelCase:					List[Any]				):
         return self.position == cell.position






       def 					SCREAMING_SNAKE_CASE    (   self:					List[Any]				):
         print(self.position				)







class    __lowerCAmelCase       :






       def __init__(   self:					str       ,					_lowerCAmelCase:					Optional[Any]=(5, 5)				):
         lowercase    :List[str]      	=						np.zeros(_lowerCAmelCase				)
         lowercase    :Union[str, Any]      	=						world_size[0]
         lowercase    :int      	=						world_size[1]






       def 					SCREAMING_SNAKE_CASE    (   self:					int				):
         print(self.w				)






       def 					SCREAMING_SNAKE_CASE    (   self:					Dict       ,					_lowerCAmelCase:					Optional[Any]				):
         lowercase    :Union[str, Any]      	=						[
             (-1, -1),
             (-1, 0),
             (-1, 1),
             (0, -1),
             (0, 1),
             (1, -1),
             (1, 0),
             (1, 1),
         ]
         lowercase    :Any      	=						cell.position[0]
         lowercase    :Optional[Any]      	=						cell.position[1]
         lowercase    :str      	=						[]
         for n in neughbour_cord:
           lowercase    :Optional[Any]      	=						current_x + n[0]
           lowercase    :List[str]      	=						current_y + n[1]
           if 0 <= x < self.world_x_limit and 0 <= y < self.world_y_limit:
             lowercase    :List[str]      	=						Cell()
             lowercase    :Optional[int]      	=						(x, y)
             lowercase    :Optional[int]      	=						cell
             neighbours.append(_lowerCAmelCase				)
         return neighbours







def       UpperCAmelCase__  (     lowerCamelCase,			lowerCamelCase,			lowerCamelCase   ):
  lowercase    :List[str]      	=						[]
  lowercase    :Tuple      	=						[]
  _open.append(lowerCamelCase   )

  while _open:
    lowercase    :int      	=						np.argmin([n.f for n in _open]   )
    lowercase    :Any      	=						_open[min_f]
    _closed.append(_open.pop(lowerCamelCase   )   )
    if current == goal:
      break
    for n in world.get_neigbours(lowerCamelCase   ):
      for c in _closed:
        if c == n:
          continue
      lowercase    :Union[str, Any]      	=						current.g + 1
      lowercase	,    lowercase    :Optional[int]      	=						n.position
      lowercase	,    lowercase    :Tuple      	=						goal.position
      lowercase    :str      	=						(ya - ya) ** 2 + (xa - xa) ** 2
      lowercase    :Dict      	=						n.h + n.g

      for c in _open:
        if c == n and c.f < n.f:
          continue
      _open.append(lowerCamelCase   )
  lowercase    :int      	=						[]
  while current.parent is not None:
    path.append(current.position   )
    lowercase    :Any      	=						current.parent
  path.append(current.position   )
  return path[::-1]


if __name__ == "__main__":
     _UpperCAmelCase	:						Optional[Any]			=     Gridworld()
     # Start position and goal
     _UpperCAmelCase	:						Optional[int]			=     Cell()
     _UpperCAmelCase	:						Optional[int]			=     (0, 0)
     _UpperCAmelCase	:						List[Any]			=     Cell()
     _UpperCAmelCase	:						List[Any]			=     (4, 4)
     print(f'''path from {start.position} to {goal.position}''')
     _UpperCAmelCase	:						Tuple			=     astar(world, start, goal)
     #   Just for visual reasons.
     for i in s:
          _UpperCAmelCase	:						Optional[int]			=     1
     print(world.w)









def       UpperCAmelCase__  (     lowerCamelCase   ):
  return 10 - x * x



def       UpperCAmelCase__  (     lowerCamelCase,			lowerCamelCase   ):
  # Bolzano theory in order to find if there is a root between a and b
  if equation(lowerCamelCase   ) * equation(lowerCamelCase   ) >= 0:
    raise ValueError("Wrong space!"   )

  lowercase    :Optional[int]      	=						a
  while (b - a) >= 0.01:
    # Find middle point
    lowercase    :Optional[Any]      	=						(a + b) / 2
    # Check if middle point is root
    if equation(lowerCamelCase   ) == 0.0:
      break
    # Decide the side to repeat the steps
    if equation(lowerCamelCase   ) * equation(lowerCamelCase   ) < 0:
      lowercase    :Any      	=						c
    else:
      lowercase    :List[Any]      	=						c
  return c


if __name__ == "__main__":
     import doctest

     doctest.testmod()

     print(bisection(-2, 5))
     print(bisection(0, 6))



