


import heapq
import sys

import numpy as np

_snake_case          =							tuple[int, int]



class   _a      :
    def __init__( self							:					List[Any]				):
          lowerCamelCase__           =		[]
          lowerCamelCase__           =		set()
    def      _UpperCamelCase       ( self							:					List[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							:					Any							,					SCREAMING_SNAKE_CASE__							:					Union[str, Any]							,					SCREAMING_SNAKE_CASE__							:					Tuple				):
          if item not in self.set:
                heapq.heappush(self.elements							,					(priority, item)				)
                self.set.add(SCREAMING_SNAKE_CASE__				)
          else:
                # update
                # print("update", item)
                lowerCamelCase__           =		[]
                ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		heapq.heappop(self.elements				)
                while x != item:
                      temp.append((pri, x)				)
                      ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		heapq.heappop(self.elements				)
                temp.append((priority, item)				)
                for pro, xxx in temp:
                      heapq.heappush(self.elements							,					(pro, xxx)				)
    def      _UpperCamelCase       ( self							:					List[Any]							,					SCREAMING_SNAKE_CASE__							:					Union[str, Any]				):
          if item in self.set:
                self.set.remove(SCREAMING_SNAKE_CASE__				)
                lowerCamelCase__           =		[]
                ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		heapq.heappop(self.elements				)
                while x != item:
                      temp.append((pro, x)				)
                      ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		heapq.heappop(self.elements				)
                for prito, yyy in temp:
                      heapq.heappush(self.elements							,					(prito, yyy)				)
    def      _UpperCamelCase       ( self							:					str				):
          return self.elements[0][1]


    def      _UpperCamelCase       ( self							:					int				):
          ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		heapq.heappop(self.elements				)
          self.set.remove(SCREAMING_SNAKE_CASE__				)
          return (priority, item)





def   snake_case						(				_a:     TPos		,   _a:     TPos							)->		Any:
      '''simple docstring'''


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



def   snake_case						(				_a:     TPos		,   _a:     TPos							)->		Optional[Any]:
      '''simple docstring'''


      return consistent_heuristic(_a		,   _a							) // t



def   snake_case						(				_a:     TPos		,   _a:     TPos							)->		Any:
      '''simple docstring'''


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



def   snake_case						(				_a:     TPos		,   _a:     int		,   _a:     TPos		,   _a:     dict[TPos, float]							)->		Dict:
      '''simple docstring'''


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



def   snake_case						(				_a:     Any		,   _a:     List[Any]		,   _a:     List[Any]							)->		str:
      '''simple docstring'''


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

      for i in range(_a							):
            for j in range(_a							):
                  if (j, (n - 1) - i) in blocks:
                        lowerCamelCase__           =		'#'

      lowerCamelCase__           =		'-'
      lowerCamelCase__           =		back_pointer[goal]
      while x != start:
            ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		x
            # print(x)
            lowerCamelCase__           =		'-'
            lowerCamelCase__           =		back_pointer[x]
      lowerCamelCase__           =		'-'

      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:-'							)
      lowerCamelCase__           =		back_pointer[goal]
      while x != start:
            print(_a		,   end=' '							)
            lowerCamelCase__           =		back_pointer[x]
      print(_a							)
      sys.exit()



def   snake_case						(				_a:     TPos							)->		str:
      '''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   snake_case						(				_a:     Dict		,   _a:     str		,   _a:     List[str]		,   _a:     Tuple		,   _a:     Optional[Any]		,   _a:     str		,   _a:     Dict		,   _a:     Optional[int]		,   )->		Any:
      '''simple docstring'''


      for itera in range(_a							):
            open_list[itera].remove_element(_a							)
      # print("s", s)
      # print("j", j)
      ((lowerCamelCase__)    ,  (lowerCamelCase__))           =		s
      lowerCamelCase__           =		(x - 1, y)
      lowerCamelCase__           =		(x + 1, y)
      lowerCamelCase__           =		(x, y + 1)
      lowerCamelCase__           =		(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							)
                        lowerCamelCase__           =		-1
                        lowerCamelCase__           =		float('inf'							)

                  if valid(_a							) and g_function[neighbours] > g_function[s] + 1:
                        lowerCamelCase__           =		g_function[s] + 1
                        lowerCamelCase__           =		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   snake_case						(				)->		Union[str, Any]:
      '''simple docstring'''


      lowerCamelCase__           =		[]
      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          =							{0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

_snake_case          =							[
    (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          =							make_common_ground()


_snake_case          =							blocks_blk
# hyper parameters
_snake_case          =							1
_snake_case          =							1
_snake_case          =							20
_snake_case          =							3  # one consistent and two other inconsistent

# start and end destination
_snake_case          =							(0, 0)
_snake_case          =							(n - 1, n - 1)

_snake_case          =							1



def   snake_case						(				_a:     TPos		,   _a:     TPos		,   _a:     int							)->		List[str]:
      '''simple docstring'''


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

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

      lowerCamelCase__           =		[]
      lowerCamelCase__           =		[]
      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:
                              lowerCamelCase__    ,  lowerCamelCase__           =		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:
                              lowerCamelCase__           =		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"""


from ...configuration_utils import PretrainedConfig
from ...utils import logging


_snake_case          =							logging.get_logger(__name__)

_snake_case          =							{
    "microsoft/swinv2-tiny-patch4-window8-256": (
        "https://huggingface.co/microsoft/swinv2-tiny-patch4-window8-256/resolve/main/config.json"
    ),
}



class   _a      (      SCREAMING_SNAKE_CASE_ ):
    a_    :				Union[str, Any]             =    'swinv2'

    a_    :				Optional[int]             =    {
        'num_attention_heads': 'num_heads',
        'num_hidden_layers': 'num_layers',
    }
    def __init__( self							:					List[str]							,					SCREAMING_SNAKE_CASE__							:					int=2_24							,					SCREAMING_SNAKE_CASE__							:					str=4							,					SCREAMING_SNAKE_CASE__							:					List[Any]=3							,					SCREAMING_SNAKE_CASE__							:					str=96							,					SCREAMING_SNAKE_CASE__							:					Dict=[2, 2, 6, 2]							,					SCREAMING_SNAKE_CASE__							:					Union[str, Any]=[3, 6, 12, 24]							,					SCREAMING_SNAKE_CASE__							:					Tuple=7							,					SCREAMING_SNAKE_CASE__							:					Union[str, Any]=4.0							,					SCREAMING_SNAKE_CASE__							:					List[str]=True							,					SCREAMING_SNAKE_CASE__							:					List[Any]=0.0							,					SCREAMING_SNAKE_CASE__							:					Optional[int]=0.0							,					SCREAMING_SNAKE_CASE__							:					Dict=0.1							,					SCREAMING_SNAKE_CASE__							:					Tuple="gelu"							,					SCREAMING_SNAKE_CASE__							:					Tuple=False							,					SCREAMING_SNAKE_CASE__							:					Any=0.02							,					SCREAMING_SNAKE_CASE__							:					List[Any]=1e-5							,					SCREAMING_SNAKE_CASE__							:					int=32							,					**SCREAMING_SNAKE_CASE__							:					List[str]							,					):
          super().__init__(**SCREAMING_SNAKE_CASE__				)

          lowerCamelCase__           =		image_size
          lowerCamelCase__           =		patch_size
          lowerCamelCase__           =		num_channels
          lowerCamelCase__           =		embed_dim
          lowerCamelCase__           =		depths
          lowerCamelCase__           =		len(SCREAMING_SNAKE_CASE__				)
          lowerCamelCase__           =		num_heads
          lowerCamelCase__           =		window_size
          lowerCamelCase__           =		mlp_ratio
          lowerCamelCase__           =		qkv_bias
          lowerCamelCase__           =		hidden_dropout_prob
          lowerCamelCase__           =		attention_probs_dropout_prob
          lowerCamelCase__           =		drop_path_rate
          lowerCamelCase__           =		hidden_act
          lowerCamelCase__           =		use_absolute_embeddings
          lowerCamelCase__           =		layer_norm_eps
          lowerCamelCase__           =		initializer_range
          lowerCamelCase__           =		encoder_stride
          # we set the hidden_size attribute in order to make Swinv2 work with VisionEncoderDecoderModel
          # this indicates the channel dimension after the last stage of the model
          lowerCamelCase__           =		int(embed_dim * 2 ** (len(SCREAMING_SNAKE_CASE__				) - 1)				)
          lowerCamelCase__           =		(0, 0, 0, 0)



