

import numpy as np







class        a__       :







  """simple docstring"""




  def __init__(			self    : str		)					->Tuple:
        """simple docstring"""







        SCREAMING_SNAKE_CASE :      str       =   (0, 0)
        SCREAMING_SNAKE_CASE :      Tuple       =   None
        SCREAMING_SNAKE_CASE :      int       =   0
        SCREAMING_SNAKE_CASE :      Any       =   0
        SCREAMING_SNAKE_CASE :      Optional[Any]       =   0


  def __eq__(			self    : Optional[int]				,				UpperCAmelCase__    : List[Any]		)					->Dict:
        """simple docstring"""







        return self.position == cell.position




  def  _lowercase      (			self    : Any		)					->Tuple:
        """simple docstring"""







        print(self.position		)







class        a__       :







  """simple docstring"""




  def __init__(			self    : Optional[int]				,				UpperCAmelCase__    : Tuple=(5, 5)		)					->Union[str, Any]:
        """simple docstring"""







        SCREAMING_SNAKE_CASE :      Union[str, Any]       =   np.zeros(UpperCAmelCase__		)
        SCREAMING_SNAKE_CASE :      Tuple       =   world_size[0]
        SCREAMING_SNAKE_CASE :      Any       =   world_size[1]


  def  _lowercase      (			self    : Union[str, Any]		)					->Any:
        """simple docstring"""







        print(self.w		)




  def  _lowercase      (			self    : Union[str, Any]				,				UpperCAmelCase__    : int		)					->Optional[int]:
        """simple docstring"""







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






def 					__lowercase      (     _A						,    _A						,    _A			)     ->						Optional[int]:
      SCREAMING_SNAKE_CASE :      str       =   []
      SCREAMING_SNAKE_CASE :      Union[str, Any]       =   []
      _open.append(__SCREAMING_SNAKE_CASE			)

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

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


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







from __future__ import annotations

import numpy as np






def 					__lowercase      (     _A			)     ->						tuple[np.ndarray, np.ndarray]:
      SCREAMING_SNAKE_CASE     ,	SCREAMING_SNAKE_CASE :      Dict       =   np.shape(_A			)
      if rows != columns:
            SCREAMING_SNAKE_CASE :      int       =   (
                """'table' has to be of square shaped array but got a """
                F"{rows}x{columns} array:\n{table}"
            )
            raise ValueError(_A			)

      SCREAMING_SNAKE_CASE :      Union[str, Any]       =   np.zeros((rows, columns)			)
      SCREAMING_SNAKE_CASE :      Optional[Any]       =   np.zeros((rows, columns)			)
      for i in range(_A			):
            for j in range(_A			):
                  SCREAMING_SNAKE_CASE :      Tuple       =   sum(lower[i][k] * upper[k][j] for k in range(_A			)			)
                  if upper[j][j] == 0:
                        raise ArithmeticError("""No LU decomposition exists"""			)
                  SCREAMING_SNAKE_CASE :      Union[str, Any]       =   (table[i][j] - total) / upper[j][j]
            SCREAMING_SNAKE_CASE :      Optional[Any]       =   1
            for j in range(_A						,    _A			):
                  SCREAMING_SNAKE_CASE :      List[str]       =   sum(lower[i][k] * upper[k][j] for k in range(_A			)			)
                  SCREAMING_SNAKE_CASE :      Optional[Any]       =   table[i][j] - total
      return lower, upper


if __name__ == "__main__":
  import doctest

  doctest.testmod()




