'''simple docstring'''

from __future__ import annotations

UpperCamelCase__     :	Tuple				=			[
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]







def __UpperCamelCase(   _A					:				list[list[int]]  ,			_A					:				list[int]  ,			_A					:				list[int]  ,			_A					:				int  ,			_A					:				list[list[int]]  ,			):
   '''simple docstring'''
   UpperCAmelCase__							:				List[Any]   				=  [
       [0 for col in range(len(grid[0]    )    )] for row in range(len(_A    )    )
   ]  # the reference grid
   UpperCAmelCase__							:				int   				=  1
   UpperCAmelCase__							:				Optional[int]   				=  [
       [0 for col in range(len(grid[0]    )    )] for row in range(len(_A    )    )
   ]  # the action grid

   UpperCAmelCase__							:				List[Any]   				=  init[0]
   UpperCAmelCase__							:				Any   				=  init[1]
   UpperCAmelCase__							:				Any   				=  0
   UpperCAmelCase__							:				Any   				=  g + heuristic[x][y]  # cost from starting cell to destination cell
   UpperCAmelCase__							:				List[str]   				=  [[f, g, x, y]]

   UpperCAmelCase__							:				Optional[int]   				=  False  # flag that is set when search is complete
   UpperCAmelCase__							:				Any   				=  False  # flag set if we can't find expand

   while not found and not resign:
      if len(_A    ) == 0:
         raise ValueError('''Algorithm is unable to find solution'''    )
      else:  # to choose the least costliest action so as to move closer to the goal
         cell.sort()
         cell.reverse()
         UpperCAmelCase__							:				Dict   				=  cell.pop()
         UpperCAmelCase__							:				Any   				=  next_cell[2]
         UpperCAmelCase__							:				List[Any]   				=  next_cell[3]
         UpperCAmelCase__							:				Any   				=  next_cell[1]

         if x == goal[0] and y == goal[1]:
            UpperCAmelCase__							:				Any   				=  True
         else:
            for i in range(len(_A    )    ):  # to try out different valid actions
               UpperCAmelCase__							:				Optional[Any]   				=  x + DIRECTIONS[i][0]
               UpperCAmelCase__							:				Any   				=  y + DIRECTIONS[i][1]
               if xa >= 0 and xa < len(_A    ) and ya >= 0 and ya < len(grid[0]    ):
                  if closed[xa][ya] == 0 and grid[xa][ya] == 0:
                     UpperCAmelCase__							:				List[Any]   				=  g + cost
                     UpperCAmelCase__							:				List[Any]   				=  ga + heuristic[xa][ya]
                     cell.append([fa, ga, xa, ya]    )
                     UpperCAmelCase__							:				Optional[Any]   				=  1
                     UpperCAmelCase__							:				Union[str, Any]   				=  i
   UpperCAmelCase__							:				int   				=  []
   UpperCAmelCase__							:				str   				=  goal[0]
   UpperCAmelCase__							:				Optional[int]   				=  goal[1]
   invpath.append([x, y]    )  # we get the reverse path from here
   while x != init[0] or y != init[1]:
      UpperCAmelCase__							:				Optional[int]   				=  x - DIRECTIONS[action[x][y]][0]
      UpperCAmelCase__							:				Dict   				=  y - DIRECTIONS[action[x][y]][1]
      UpperCAmelCase__							:				int   				=  xa
      UpperCAmelCase__							:				Any   				=  ya
      invpath.append([x, y]    )

   UpperCAmelCase__							:				Union[str, Any]   				=  []
   for i in range(len(_A    )    ):
      path.append(invpath[len(_A    ) - 1 - i]    )
   return path, action


if __name__ == "__main__":
  UpperCamelCase__     :	Dict				=			[
      [0, 1, 0, 0, 0, 0],
      [0, 1, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
      [0, 1, 0, 0, 0, 0],
      [0, 1, 0, 0, 1, 0],
      [0, 0, 0, 0, 1, 0],
  ]

  UpperCamelCase__     :	str				=			[0, 0]
  # all coordinates are given in format [y,x]
  UpperCamelCase__     :	int				=			[len(grid) - 1, len(grid[0]) - 1]
  UpperCamelCase__     :	List[Any]				=			1

  # the cost map which pushes the path closer to the goal
  UpperCamelCase__     :	Union[str, Any]				=			[[0 for row in range(len(grid[0]))] for col in range(len(grid))]
  for i in range(len(grid)):
    for j in range(len(grid[0])):
      UpperCamelCase__     :	Optional[Any]				=			abs(i - goal[0]) + abs(j - goal[1])
      if grid[i][j] == 1:
        # added extra penalty in the heuristic map
        UpperCamelCase__     :	str				=			99

  UpperCamelCase__				,     UpperCamelCase__     :	List[Any]				=			search(grid, init, goal, cost, heuristic)

  print('ACTION MAP')
  for i in range(len(action)):
    print(action[i])

  for i in range(len(path)):
    print(path[i])





'''simple docstring'''

from typing import TYPE_CHECKING

from ...utils import OptionalDependencyNotAvailable, _LazyModule, is_torch_available, is_vision_available


UpperCamelCase__     :	List[Any]				=			{'configuration_yolos': ['YOLOS_PRETRAINED_CONFIG_ARCHIVE_MAP', 'YolosConfig', 'YolosOnnxConfig']}

try:
  if not is_vision_available():
    raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
  pass
else:
  UpperCamelCase__     :	int				=			['YolosFeatureExtractor']
  UpperCamelCase__     :	int				=			['YolosImageProcessor']

try:
  if not is_torch_available():
    raise OptionalDependencyNotAvailable()
except OptionalDependencyNotAvailable:
  pass
else:
  UpperCamelCase__     :	int				=			[
      'YOLOS_PRETRAINED_MODEL_ARCHIVE_LIST',
      'YolosForObjectDetection',
      'YolosModel',
      'YolosPreTrainedModel',
  ]


if TYPE_CHECKING:
  from .configuration_yolos import YOLOS_PRETRAINED_CONFIG_ARCHIVE_MAP, YolosConfig, YolosOnnxConfig

  try:
    if not is_vision_available():
      raise OptionalDependencyNotAvailable()
  except OptionalDependencyNotAvailable:
    pass
  else:
    from .feature_extraction_yolos import YolosFeatureExtractor
    from .image_processing_yolos import YolosImageProcessor

  try:
    if not is_torch_available():
      raise OptionalDependencyNotAvailable()
  except OptionalDependencyNotAvailable:
    pass
  else:
    from .modeling_yolos import (
        YOLOS_PRETRAINED_MODEL_ARCHIVE_LIST,
        YolosForObjectDetection,
        YolosModel,
        YolosPreTrainedModel,
    )


else:
  import sys

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




