
'''simple docstring'''




from binascii import hexlify
from hashlib import shaaaa
from os import urandom

# RFC 3526 - More Modular Exponential (MODP) Diffie-Hellman groups for
# Internet Key Exchange (IKE) https://tools.ietf.org/html/rfc3526

lowercase			:				Tuple    		=			{
    # 1536-bit
    5: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD1'
            + '29024E088A67CC74020BBEA63B139B22514A08798E3404DD'
            + 'EF9519B3CD3A431B302B0A6DF25F14374FE1356D6D51C245'
            + 'E485B576625E7EC6F44C42E9A637ED6B0BFF5CB6F406B7ED'
            + 'EE386BFB5A899FA5AE9F24117C4B1FE649286651ECE45B3D'
            + 'C2007CB8A163BF0598DA48361C55D39A69163FA8FD24CF5F'
            + '83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA237327FFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
    # 2048-bit
    14: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD1'
            + '29024E088A67CC74020BBEA63B139B22514A08798E3404DD'
            + 'EF9519B3CD3A431B302B0A6DF25F14374FE1356D6D51C245'
            + 'E485B576625E7EC6F44C42E9A637ED6B0BFF5CB6F406B7ED'
            + 'EE386BFB5A899FA5AE9F24117C4B1FE649286651ECE45B3D'
            + 'C2007CB8A163BF0598DA48361C55D39A69163FA8FD24CF5F'
            + '83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA18217C32905E462E36CE3B'
            + 'E39E772C180E86039B2783A2EC07A28FB5C55DF06F4C52C9'
            + 'DE2BCBF6955817183995497CEA956AE515D2261898FA0510'
            + '15728E5A8AACAA68FFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
    # 3072-bit
    15: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD1'
            + '29024E088A67CC74020BBEA63B139B22514A08798E3404DD'
            + 'EF9519B3CD3A431B302B0A6DF25F14374FE1356D6D51C245'
            + 'E485B576625E7EC6F44C42E9A637ED6B0BFF5CB6F406B7ED'
            + 'EE386BFB5A899FA5AE9F24117C4B1FE649286651ECE45B3D'
            + 'C2007CB8A163BF0598DA48361C55D39A69163FA8FD24CF5F'
            + '83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA18217C32905E462E36CE3B'
            + 'E39E772C180E86039B2783A2EC07A28FB5C55DF06F4C52C9'
            + 'DE2BCBF6955817183995497CEA956AE515D2261898FA0510'
            + '15728E5A8AAAC42DAD33170D04507A33A85521ABDF1CBA64'
            + 'ECFB850458DBEF0A8AEA71575D060C7DB3970F85A6E1E4C7'
            + 'ABF5AE8CDB0933D71E8C94E04A25619DCEE3D2261AD2EE6B'
            + 'F12FFA06D98A0864D87602733EC86A64521F2B18177B200C'
            + 'BBE117577A615D6C770988C0BAD946E208E24FA074E5AB31'
            + '43DB5BFCE0FD108E4B82D120A93AD2CAFFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
    # 4096-bit
    16: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD1'
            + '29024E088A67CC74020BBEA63B139B22514A08798E3404DD'
            + 'EF9519B3CD3A431B302B0A6DF25F14374FE1356D6D51C245'
            + 'E485B576625E7EC6F44C42E9A637ED6B0BFF5CB6F406B7ED'
            + 'EE386BFB5A899FA5AE9F24117C4B1FE649286651ECE45B3D'
            + 'C2007CB8A163BF0598DA48361C55D39A69163FA8FD24CF5F'
            + '83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA18217C32905E462E36CE3B'
            + 'E39E772C180E86039B2783A2EC07A28FB5C55DF06F4C52C9'
            + 'DE2BCBF6955817183995497CEA956AE515D2261898FA0510'
            + '15728E5A8AAAC42DAD33170D04507A33A85521ABDF1CBA64'
            + 'ECFB850458DBEF0A8AEA71575D060C7DB3970F85A6E1E4C7'
            + 'ABF5AE8CDB0933D71E8C94E04A25619DCEE3D2261AD2EE6B'
            + 'F12FFA06D98A0864D87602733EC86A64521F2B18177B200C'
            + 'BBE117577A615D6C770988C0BAD946E208E24FA074E5AB31'
            + '43DB5BFCE0FD108E4B82D120A92108011A723C12A787E6D7'
            + '88719A10BDBA5B2699C327186AF4E23C1A946834B6150BDA'
            + '2583E9CA2AD44CE8DBBBC2DB04DE8EF92E8EFC141FBECAA6'
            + '287C59474E6BC05D99B2964FA090C3A2233BA186515BE7ED'
            + '1F612970CEE2D7AFB81BDD762170481CD0069127D5B05AA9'
            + '93B4EA988D8FDDC186FFB7DC90A6C08F4DF435C934063199'
            + 'FFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
    # 6144-bit
    17: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD129024E08'
            + '8A67CC74020BBEA63B139B22514A08798E3404DDEF9519B3CD3A431B'
            + '302B0A6DF25F14374FE1356D6D51C245E485B576625E7EC6F44C42E9'
            + 'A637ED6B0BFF5CB6F406B7EDEE386BFB5A899FA5AE9F24117C4B1FE6'
            + '49286651ECE45B3DC2007CB8A163BF0598DA48361C55D39A69163FA8'
            + 'FD24CF5F83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA18217C32905E462E36CE3BE39E772C'
            + '180E86039B2783A2EC07A28FB5C55DF06F4C52C9DE2BCBF695581718'
            + '3995497CEA956AE515D2261898FA051015728E5A8AAAC42DAD33170D'
            + '04507A33A85521ABDF1CBA64ECFB850458DBEF0A8AEA71575D060C7D'
            + 'B3970F85A6E1E4C7ABF5AE8CDB0933D71E8C94E04A25619DCEE3D226'
            + '1AD2EE6BF12FFA06D98A0864D87602733EC86A64521F2B18177B200C'
            + 'BBE117577A615D6C770988C0BAD946E208E24FA074E5AB3143DB5BFC'
            + 'E0FD108E4B82D120A92108011A723C12A787E6D788719A10BDBA5B26'
            + '99C327186AF4E23C1A946834B6150BDA2583E9CA2AD44CE8DBBBC2DB'
            + '04DE8EF92E8EFC141FBECAA6287C59474E6BC05D99B2964FA090C3A2'
            + '233BA186515BE7ED1F612970CEE2D7AFB81BDD762170481CD0069127'
            + 'D5B05AA993B4EA988D8FDDC186FFB7DC90A6C08F4DF435C934028492'
            + '36C3FAB4D27C7026C1D4DCB2602646DEC9751E763DBA37BDF8FF9406'
            + 'AD9E530EE5DB382F413001AEB06A53ED9027D831179727B0865A8918'
            + 'DA3EDBEBCF9B14ED44CE6CBACED4BB1BDB7F1447E6CC254B33205151'
            + '2BD7AF426FB8F401378CD2BF5983CA01C64B92ECF032EA15D1721D03'
            + 'F482D7CE6E74FEF6D55E702F46980C82B5A84031900B1C9E59E7C97F'
            + 'BEC7E8F323A97A7E36CC88BE0F1D45B7FF585AC54BD407B22B4154AA'
            + 'CC8F6D7EBF48E1D814CC5ED20F8037E0A79715EEF29BE32806A1D58B'
            + 'B7C5DA76F550AA3D8A1FBFF0EB19CCB1A313D55CDA56C9EC2EF29632'
            + '387FE8D76E3C0468043E8F663F4860EE12BF2D5B0B7474D6E694F91E'
            + '6DCC4024FFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
    # 8192-bit
    18: {
        'prime': int(
            'FFFFFFFFFFFFFFFFC90FDAA22168C234C4C6628B80DC1CD1'
            + '29024E088A67CC74020BBEA63B139B22514A08798E3404DD'
            + 'EF9519B3CD3A431B302B0A6DF25F14374FE1356D6D51C245'
            + 'E485B576625E7EC6F44C42E9A637ED6B0BFF5CB6F406B7ED'
            + 'EE386BFB5A899FA5AE9F24117C4B1FE649286651ECE45B3D'
            + 'C2007CB8A163BF0598DA48361C55D39A69163FA8FD24CF5F'
            + '83655D23DCA3AD961C62F356208552BB9ED529077096966D'
            + '670C354E4ABC9804F1746C08CA18217C32905E462E36CE3B'
            + 'E39E772C180E86039B2783A2EC07A28FB5C55DF06F4C52C9'
            + 'DE2BCBF6955817183995497CEA956AE515D2261898FA0510'
            + '15728E5A8AAAC42DAD33170D04507A33A85521ABDF1CBA64'
            + 'ECFB850458DBEF0A8AEA71575D060C7DB3970F85A6E1E4C7'
            + 'ABF5AE8CDB0933D71E8C94E04A25619DCEE3D2261AD2EE6B'
            + 'F12FFA06D98A0864D87602733EC86A64521F2B18177B200C'
            + 'BBE117577A615D6C770988C0BAD946E208E24FA074E5AB31'
            + '43DB5BFCE0FD108E4B82D120A92108011A723C12A787E6D7'
            + '88719A10BDBA5B2699C327186AF4E23C1A946834B6150BDA'
            + '2583E9CA2AD44CE8DBBBC2DB04DE8EF92E8EFC141FBECAA6'
            + '287C59474E6BC05D99B2964FA090C3A2233BA186515BE7ED'
            + '1F612970CEE2D7AFB81BDD762170481CD0069127D5B05AA9'
            + '93B4EA988D8FDDC186FFB7DC90A6C08F4DF435C934028492'
            + '36C3FAB4D27C7026C1D4DCB2602646DEC9751E763DBA37BD'
            + 'F8FF9406AD9E530EE5DB382F413001AEB06A53ED9027D831'
            + '179727B0865A8918DA3EDBEBCF9B14ED44CE6CBACED4BB1B'
            + 'DB7F1447E6CC254B332051512BD7AF426FB8F401378CD2BF'
            + '5983CA01C64B92ECF032EA15D1721D03F482D7CE6E74FEF6'
            + 'D55E702F46980C82B5A84031900B1C9E59E7C97FBEC7E8F3'
            + '23A97A7E36CC88BE0F1D45B7FF585AC54BD407B22B4154AA'
            + 'CC8F6D7EBF48E1D814CC5ED20F8037E0A79715EEF29BE328'
            + '06A1D58BB7C5DA76F550AA3D8A1FBFF0EB19CCB1A313D55C'
            + 'DA56C9EC2EF29632387FE8D76E3C0468043E8F663F4860EE'
            + '12BF2D5B0B7474D6E694F91E6DBE115974A3926F12FEE5E4'
            + '38777CB6A932DF8CD8BEC4D073B931BA3BC832B68D9DD300'
            + '741FA7BF8AFC47ED2576F6936BA424663AAB639C5AE4F568'
            + '3423B4742BF1C978238F16CBE39D652DE3FDB8BEFC848AD9'
            + '22222E04A4037C0713EB57A81A23F0C73473FC646CEA306B'
            + '4BCBC8862F8385DDFA9D4B7FA2C087E879683303ED5BDD3A'
            + '062B3CF5B3A278A66D2A13F83F44F82DDF310EE074AB6A36'
            + '4597E899A0255DC164F31CC50846851DF9AB48195DED7EA1'
            + 'B1D510BD7EE74D73FAF36BC31ECFA268359046F4EB879F92'
            + '4009438B481C6CD7889A002ED5EE382BC9190DA6FC026E47'
            + '9558E4475677E9AA9E3050E2765694DFC81F56E880B96E71'
            + '60C980DD98EDD3DFFFFFFFFFFFFFFFFF',
            base=16,
        ),
        'generator': 2,
    },
}





class  A				:





     def __init__(							self						,			SCREAMING_SNAKE_CASE = 14	) ->				None:






         """simple docstring"""






         if group not in primes:
             raise ValueError('''Unsupported Group'''	)
         A       :   int					=						primes[group]['''prime''']
         A       :   Optional[Any]					=						primes[group]['''generator''']

         A       :   Any					=						int(hexlify(urandom(32	)	)						,			base=16	)





     def 				__lowerCAmelCase							(							self	) ->				str:






         """simple docstring"""






         return hex(self.__private_key	)[2:]





     def 				__lowerCAmelCase							(							self	) ->				str:






         """simple docstring"""






         A       :   int					=						pow(self.generator						,			self.__private_key						,			self.prime	)
         return hex(_UpperCamelCase	)[2:]





     def 				__lowerCAmelCase							(							self						,			SCREAMING_SNAKE_CASE	) ->				bool:






         """simple docstring"""






         return (
             2 <= key <= self.prime - 2
             and pow(_UpperCamelCase						,			(self.prime - 1) // 2						,			self.prime	) == 1
         )





     def 				__lowerCAmelCase							(							self						,			SCREAMING_SNAKE_CASE	) ->				str:






         """simple docstring"""






         A       :   Dict					=						int(_UpperCamelCase						,			base=16	)
         if not self.is_valid_public_key(_UpperCamelCase	):
             raise ValueError('''Invalid public key'''	)
         A       :   Tuple					=						pow(_UpperCamelCase						,			self.__private_key						,			self.prime	)
         return shaaaa(str(_UpperCamelCase	).encode()	).hexdigest()





     @staticmethod
     def 				__lowerCAmelCase							(							SCREAMING_SNAKE_CASE						,			SCREAMING_SNAKE_CASE	) ->				bool:






         """simple docstring"""






         return (
             2 <= remote_public_key_str <= prime - 2
             and pow(_UpperCamelCase						,			(prime - 1) // 2						,			_UpperCamelCase	) == 1
         )





     @staticmethod
     def 				__lowerCAmelCase							(							SCREAMING_SNAKE_CASE						,			SCREAMING_SNAKE_CASE						,			SCREAMING_SNAKE_CASE = 14	) ->				str:






         """simple docstring"""






         A       :   Tuple					=						int(_UpperCamelCase						,			base=16	)
         A       :   Union[str, Any]					=						int(_UpperCamelCase						,			base=16	)
         A       :   Optional[int]					=						primes[group]['''prime''']
         if not DiffieHellman.is_valid_public_key_static(_UpperCamelCase						,			_UpperCamelCase	):
             raise ValueError('''Invalid public key'''	)
         A       :   Tuple					=						pow(_UpperCamelCase						,			_UpperCamelCase						,			_UpperCamelCase	)
         return shaaaa(str(_UpperCamelCase	).encode()	).hexdigest()


if __name__ == "__main__":
      import doctest

      doctest.testmod()











import heapq
import sys

import numpy as np

snake_case__					:							Tuple													=     tuple[int, int]





class A_					:




   def __init__(self	:Union[str, Any] )->					Union[str, Any]:
         __A          =				[]
         __A          =				set()




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




   def _lowerCAmelCase      (self	:Any )->					Any:
         return len(self.elements ) == 0




   def _lowerCAmelCase      (self	:List[str]    ,   _UpperCamelCase	:Optional[Any]    ,   _UpperCamelCase	:Optional[int] )->					Optional[int]:
         if item not in self.set:
               heapq.heappush(self.elements    ,   (priority, item) )
               self.set.add(_UpperCamelCase )
         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 _lowerCAmelCase      (self	:int    ,   _UpperCamelCase	:int )->					int:
         if item in self.set:
               self.set.remove(_UpperCamelCase )
               __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 _lowerCAmelCase      (self	:Optional[Any] )->					int:
         return self.elements[0][1]






   def _lowerCAmelCase      (self	:List[str] )->					List[Any]:
         ((__A)   ,						(__A))          =				heapq.heappop(self.elements )
         self.set.remove(_UpperCamelCase )
         return (priority, item)





def _a				(	lowerCamelCase:   TPos					,				lowerCamelCase:   TPos )	->						Any:







      '''simple docstring'''






      __A          =				np.array(lowerCamelCase )
      __A          =				np.array(lowerCamelCase )
      return np.linalg.norm(a - b )



def _a				(	lowerCamelCase:   TPos					,				lowerCamelCase:   TPos )	->						List[str]:







      '''simple docstring'''






      return consistent_heuristic(lowerCamelCase					,				lowerCamelCase ) // t



def _a				(	lowerCamelCase:   TPos					,				lowerCamelCase:   TPos )	->						Any:







      '''simple docstring'''






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



def _a				(	lowerCamelCase:   TPos					,				lowerCamelCase:   int					,				lowerCamelCase:   TPos					,				lowerCamelCase:   dict[TPos, float] )	->						Tuple:







      '''simple docstring'''






      __A          =				g_function[start] + Wa * heuristics[i](lowerCamelCase					,				lowerCamelCase )
      return ans



def _a				(	lowerCamelCase:   Tuple					,				lowerCamelCase:   Optional[int]					,				lowerCamelCase:   Optional[int] )	->						Tuple:







      '''simple docstring'''






      __A          =				np.chararray((n, n) )
      for i in range(lowerCamelCase ):
            for j in range(lowerCamelCase ):
                  __A          =				'''*'''

      for i in range(lowerCamelCase ):
            for j in range(lowerCamelCase ):
                  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(lowerCamelCase ):
            for j in range(lowerCamelCase ):
                  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(lowerCamelCase					,				end=''' ''' )
            __A          =				back_pointer[x]
      print(lowerCamelCase )
      sys.exit()



def _a				(	lowerCamelCase:   TPos )	->						Optional[Any]:







      '''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				(	lowerCamelCase:   int					,				lowerCamelCase:   Optional[int]					,				lowerCamelCase:   Tuple					,				lowerCamelCase:   Tuple					,				lowerCamelCase:   Optional[int]					,				lowerCamelCase:   str					,				lowerCamelCase:   List[Any]					,				lowerCamelCase:   Dict					,				)	->						Dict:







      '''simple docstring'''






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

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



def _a				(	)	->						str:







      '''simple docstring'''






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

      for x in range(15					,				20 ):
            some_list.append((x, 17) )

      for x in range(10					,				19 ):
            for y in range(1					,				15 ):
                  some_list.append((x, y) )

    # L block
      for x in range(1					,				4 ):
            for y in range(12					,				19 ):
                  some_list.append((x, y) )
      for x in range(3					,				13 ):
            for y in range(16					,				19 ):
                  some_list.append((x, y) )
      return some_list


snake_case__					:							Union[str, Any]													=     {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

snake_case__					:							List[str]													=     [
    (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),
]
snake_case__					:							List[str]													=     make_common_ground()


snake_case__					:							int													=     blocks_blk
# hyper parameters
snake_case__					:							Optional[int]													=     1
snake_case__					:							List[Any]													=     1
snake_case__					:							int													=     20
snake_case__					:							Optional[int]													=     3  # one consistent and two other inconsistent

# start and end destination
snake_case__					:							Tuple													=     (0, 0)
snake_case__					:							Any													=     (n - 1, n - 1)

snake_case__					:							List[Any]													=     1



def _a				(	lowerCamelCase:   TPos					,				lowerCamelCase:   TPos					,				lowerCamelCase:   int )	->						Union[str, Any]:







      '''simple docstring'''






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

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

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





