

"""simple docstring"""


import heapq
import sys

import numpy as np

UpperCAmelCase													=tuple[int, int]





class lowerCamelCase__   :



    '''simple docstring'''




    def __init__( self    )    ->      str:
          A				  =		[]
          A				  =		set()




    def UpperCamelCase__		( self    )    ->      str:
          if not self.empty():
                return self.elements[0][0]
          else:
                return float("""inf"""    )




    def UpperCamelCase__		( self    )    ->      int:
          return len(self.elements    ) == 0




    def UpperCamelCase__		( self ,lowerCamelCase_ ,lowerCamelCase_    )    ->      Tuple:
          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 UpperCamelCase__		( self ,lowerCamelCase_    )    ->      Optional[int]:
          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 UpperCamelCase__		( self    )    ->      Optional[int]:
          return self.elements[0][1]




    def UpperCamelCase__		( self    )    ->      Optional[int]:
          ((A)  ,			(A))				  =		heapq.heappop(self.elements    )
          self.set.remove(lowerCamelCase_    )
          return (priority, item)




def   _A					(	_a	:						TPos     ,   _a	:						TPos				):



      """simple docstring"""






      A				  =		np.array(_a				)
      A				  =		np.array(_a				)
      return np.linalg.norm(a - b				)



def   _A					(	_a	:						TPos     ,   _a	:						TPos				):



      """simple docstring"""






      return consistent_heuristic(_a     ,   _a				) // t



def   _A					(	_a	:						TPos     ,   _a	:						TPos				):



      """simple docstring"""






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



def   _A					(	_a	:						TPos     ,   _a	:						int     ,   _a	:						TPos     ,   _a	:						dict[TPos, float]				):



      """simple docstring"""






      A				  =		g_function[start] + Wa * heuristics[i](_a     ,   _a				)
      return ans



def   _A					(	_a	:						str     ,   _a	:						Optional[int]     ,   _a	:						int				):



      """simple docstring"""






      A				  =		np.chararray((n, n)				)
      for i in range(_a				):
            for j in range(_a				):
                  A				  =		"""*"""

      for i in range(_a				):
            for j in range(_a				):
                  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(_a				):
            for j in range(_a				):
                  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(_a     ,   end=""" """				)
            A				  =		back_pointer[x]
      print(_a				)
      sys.exit()



def   _A					(	_a	:						TPos				):



      """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   _A					(	_a	:						Tuple     ,   _a	:						List[str]     ,   _a	:						Any     ,   _a	:						Optional[Any]     ,   _a	:						int     ,   _a	:						Optional[int]     ,   _a	:						str     ,   _a	:						Any     ,   ):



      """simple docstring"""






      for itera in range(_a				):
            open_list[itera].remove_element(_a				)
      # 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(_a				) and neighbours not in visited:
                        # print("neighbour", neighbours)
                        visited.add(_a				)
                        A				  =		-1
                        A				  =		float("""inf"""				)

                  if valid(_a				) 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(_a     ,   key(_a     ,   0     ,   _a     ,   _a				)				)
                              if neighbours not in close_list_inad:
                                    for var in range(1     ,   _a				):
                                          if key(_a     ,   _a     ,   _a     ,   _a				) <= Wa * key(
                                              _a     ,   0     ,   _a     ,   _a				):
                                                open_list[j].put(
                                                    _a     ,   key(_a     ,   _a     ,   _a     ,   _a				)				)



def   _A					(	):



      """simple docstring"""






      A				  =		[]
      for x in range(1     ,   5				):
            for y in range(1     ,   6				):
                  some_list.append((x, y)				)

      for x in range(1_5     ,   2_0				):
            some_list.append((x, 1_7)				)

      for x in range(1_0     ,   1_9				):
            for y in range(1     ,   1_5				):
                  some_list.append((x, y)				)

    # L block
      for x in range(1     ,   4				):
            for y in range(1_2     ,   1_9				):
                  some_list.append((x, y)				)
      for x in range(3     ,   1_3				):
            for y in range(1_6     ,   1_9				):
                  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   _A					(	_a	:						TPos     ,   _a	:						TPos     ,   _a	:						int				):



      """simple docstring"""






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

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

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







"""simple docstring"""


class lowerCamelCase__   :



    '''simple docstring'''




    def __init__( self    )    ->      Union[str, Any]:
          A				  =		{}




    def UpperCamelCase__		( self    )    ->      None:
          print(self.vertex    )
          for i in self.vertex:
                print(lowerCamelCase_ ,""" -> """ ,""" -> """.join([str(lowerCamelCase_    ) for j in self.vertex[i]]    )    )




    def UpperCamelCase__		( self ,lowerCamelCase_ ,lowerCamelCase_    )    ->      None:
          # check if vertex is already present,
          if from_vertex in self.vertex:
                self.vertex[from_vertex].append(lowerCamelCase_    )
          else:
                # else make a new vertex
                A				  =		[to_vertex]




    def UpperCamelCase__		( self    )    ->      None:
          # visited array for storing already visited nodes
          A				  =		[False] * len(self.vertex    )

          # call the recursive helper function
          for i in range(len(self.vertex    )    ):
                if not visited[i]:
                      self.dfs_recursive(lowerCamelCase_ ,lowerCamelCase_    )




    def UpperCamelCase__		( self ,lowerCamelCase_ ,lowerCamelCase_    )    ->      None:
          # mark start vertex as visited
          A				  =		True

          print(lowerCamelCase_ ,end=""" """    )

          # Recur for all the vertices that are adjacent to this node
          for i in self.vertex:
                if not visited[i]:
                      self.dfs_recursive(lowerCamelCase_ ,lowerCamelCase_    )


if __name__ == "__main__":
  UpperCAmelCase													=Graph()
  g.add_edge(0, 1)
  g.add_edge(0, 2)
  g.add_edge(1, 2)
  g.add_edge(2, 0)
  g.add_edge(2, 3)
  g.add_edge(3, 3)

  g.print_graph()
  print("DFS:")
  g.dfs()

  # OUTPUT:
  # 0  ->  1 -> 2
  # 1  ->  2
  # 2  ->  0 -> 3
  # 3  ->  3
  # DFS:
  #  0 1 2 3




