




import numpy as np






class  _lowerCAmelCase     :

						def __init__(   self		):
								lowerCAmelCase__				:  List[Any]		       =     (0, 0)
								lowerCAmelCase__				:  Optional[int]		       =     None
								lowerCAmelCase__				:  Optional[Any]		       =     0
								lowerCAmelCase__				:  Optional[int]		       =     0
								lowerCAmelCase__				:  Tuple		       =     0

						def __eq__(   self      ,				__UpperCAmelCase		):
								return self.position == cell.position







						def 	__magic_name__(   self		):
								print(self.position		)






class  _lowerCAmelCase     :

						def __init__(   self      ,				__UpperCAmelCase=(5, 5)		):
								lowerCAmelCase__				:  List[str]		       =     np.zeros(__UpperCAmelCase		)
								lowerCAmelCase__				:  List[Any]		       =     world_size[0]
								lowerCAmelCase__				:  str		       =     world_size[1]

						def 	__magic_name__(   self		):
								print(self.w		)







						def 	__magic_name__(   self      ,				__UpperCAmelCase		):
								lowerCAmelCase__				:  Optional[Any]		       =     [
								    (-1, -1),
								    (-1, 0),
								    (-1, 1),
								    (0, -1),
								    (0, 1),
								    (1, -1),
								    (1, 0),
								    (1, 1),
								]
								lowerCAmelCase__				:  Tuple		       =     cell.position[0]
								lowerCAmelCase__				:  Optional[int]		       =     cell.position[1]
								lowerCAmelCase__				:  Any		       =     []
								for n in neughbour_cord:
										lowerCAmelCase__				:  int		       =     current_x + n[0]
										lowerCAmelCase__				:  Dict		       =     current_y + n[1]
										if 0 <= x < self.world_x_limit and 0 <= y < self.world_y_limit:
												lowerCAmelCase__				:  Optional[int]		       =     Cell()
												lowerCAmelCase__				:  Optional[int]		       =     (x, y)
												lowerCAmelCase__				:  Any		       =     cell
												neighbours.append(__UpperCAmelCase		)
								return neighbours



def      __lowerCAmelCase			(					UpperCamelCase	,      UpperCamelCase	,      UpperCamelCase      )     ->	Union[str, Any]:
		lowerCAmelCase__				:  int		       =     []
		lowerCAmelCase__				:  int		       =     []
		_open.append(UpperCamelCase      )

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

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


if __name__ == "__main__":
					lowerCAmelCase_					    = Gridworld()
					# Start position and goal
					lowerCAmelCase_					    = Cell()
					lowerCAmelCase_					    = (0, 0)
					lowerCAmelCase_					    = Cell()
					lowerCAmelCase_					    = (4, 4)
					print(F"""path from {start.position} to {goal.position}""")
					lowerCAmelCase_					    = astar(world, start, goal)
					#   Just for visual reasons.
					for i in s:
										lowerCAmelCase_					    = 1
					print(world.w)







import math



def      __lowerCAmelCase			(					UpperCamelCase	,      UpperCamelCase      )     ->	float:
  if (
      not isinstance(UpperCamelCase	,      (int, float)      )
      or power_factor < -1
      or power_factor > 1
  ):
    raise ValueError('''power_factor must be a valid float value between -1 and 1.'''      )
  return apparent_power * power_factor



def      __lowerCAmelCase			(					UpperCamelCase	,      UpperCamelCase      )     ->	float:
  if (
      not isinstance(UpperCamelCase	,      (int, float)      )
      or power_factor < -1
      or power_factor > 1
  ):
    raise ValueError('''power_factor must be a valid float value between -1 and 1.'''      )
  return apparent_power * math.sqrt(1 - power_factor**2      )


if __name__ == "__main__":
     import doctest

     doctest.testmod()

