

import copy
from collections import OrderedDict
from typing import Mapping

from packaging import version

from ...configuration_utils import PretrainedConfig
from ...onnx import OnnxConfig
from ...utils import logging
from ..auto import CONFIG_MAPPING


a_    :						int    		=      logging.get_logger(__name__)

a_    :						List[Any]    		=      {
    "microsoft/conditional-detr-resnet-50": (
        "https://huggingface.co/microsoft/conditional-detr-resnet-50/resolve/main/config.json"
    ),
}




class      UpperCamelCase (     SCREAMING_SNAKE_CASE   ):
    __UpperCamelCase         ="conditional_detr"
    __UpperCamelCase         =["past_key_values"]
    __UpperCamelCase         ={
        "hidden_size": "d_model",
        "num_attention_heads": "encoder_attention_heads",
    }

    def __init__(			self :      int							,    snake_case__ :      Optional[Any]=True							,    snake_case__ :      Optional[int]=None							,    snake_case__ :      Any=3							,    snake_case__ :      Any=3_0_0							,    snake_case__ :      Union[str, Any]=6							,    snake_case__ :      int=2_0_4_8							,    snake_case__ :      Tuple=8							,    snake_case__ :      List[Any]=6							,    snake_case__ :      Union[str, Any]=2_0_4_8							,    snake_case__ :      str=8							,    snake_case__ :      List[Any]=0.0							,    snake_case__ :      Union[str, Any]=0.0							,    snake_case__ :      int=True							,    snake_case__ :      Tuple="relu"							,    snake_case__ :      List[str]=2_5_6							,    snake_case__ :      Optional[int]=0.1							,    snake_case__ :      Tuple=0.0							,    snake_case__ :      Any=0.0							,    snake_case__ :      Any=0.02							,    snake_case__ :      List[str]=1.0							,    snake_case__ :      int=False							,    snake_case__ :      str="sine"							,    snake_case__ :      Dict="resnet50"							,    snake_case__ :      Tuple=True							,    snake_case__ :      List[Any]=False							,    snake_case__ :      Union[str, Any]=2							,    snake_case__ :      Union[str, Any]=5							,    snake_case__ :      Optional[Any]=2							,    snake_case__ :      Dict=1							,    snake_case__ :      str=1							,    snake_case__ :      str=2							,    snake_case__ :      Any=5							,    snake_case__ :      Optional[int]=2							,    snake_case__ :      List[Any]=0.25							,    **snake_case__ :      List[str]							,    ):

     """simple docstring"""






     if backbone_config is not None and use_timm_backbone:
      raise ValueError('You can\'t specify both `backbone_config` and `use_timm_backbone`.'    )

     if not use_timm_backbone:
      if backbone_config is None:
       logger.info('`backbone_config` is `None`. Initializing the config with the default `ResNet` backbone.'    )
       SCREAMING_SNAKE_CASE								=			CONFIG_MAPPING['resnet'](out_features=['stage4']    )
      elif isinstance(snake_case__							,    snake_case__    ):
       SCREAMING_SNAKE_CASE								=			backbone_config.get('model_type'    )
       SCREAMING_SNAKE_CASE								=			CONFIG_MAPPING[backbone_model_type]
       SCREAMING_SNAKE_CASE								=			config_class.from_dict(snake_case__    )

     SCREAMING_SNAKE_CASE								=			use_timm_backbone
     SCREAMING_SNAKE_CASE								=			backbone_config
     SCREAMING_SNAKE_CASE								=			num_channels
     SCREAMING_SNAKE_CASE								=			num_queries
     SCREAMING_SNAKE_CASE								=			d_model
     SCREAMING_SNAKE_CASE								=			encoder_ffn_dim
     SCREAMING_SNAKE_CASE								=			encoder_layers
     SCREAMING_SNAKE_CASE								=			encoder_attention_heads
     SCREAMING_SNAKE_CASE								=			decoder_ffn_dim
     SCREAMING_SNAKE_CASE								=			decoder_layers
     SCREAMING_SNAKE_CASE								=			decoder_attention_heads
     SCREAMING_SNAKE_CASE								=			dropout
     SCREAMING_SNAKE_CASE								=			attention_dropout
     SCREAMING_SNAKE_CASE								=			activation_dropout
     SCREAMING_SNAKE_CASE								=			activation_function
     SCREAMING_SNAKE_CASE								=			init_std
     SCREAMING_SNAKE_CASE								=			init_xavier_std
     SCREAMING_SNAKE_CASE								=			encoder_layerdrop
     SCREAMING_SNAKE_CASE								=			decoder_layerdrop
     SCREAMING_SNAKE_CASE								=			encoder_layers
     SCREAMING_SNAKE_CASE								=			auxiliary_loss
     SCREAMING_SNAKE_CASE								=			position_embedding_type
     SCREAMING_SNAKE_CASE								=			backbone
     SCREAMING_SNAKE_CASE								=			use_pretrained_backbone
     SCREAMING_SNAKE_CASE								=			dilation
     # Hungarian matcher
     SCREAMING_SNAKE_CASE								=			class_cost
     SCREAMING_SNAKE_CASE								=			bbox_cost
     SCREAMING_SNAKE_CASE								=			giou_cost
     # Loss coefficients
     SCREAMING_SNAKE_CASE								=			mask_loss_coefficient
     SCREAMING_SNAKE_CASE								=			dice_loss_coefficient
     SCREAMING_SNAKE_CASE								=			cls_loss_coefficient
     SCREAMING_SNAKE_CASE								=			bbox_loss_coefficient
     SCREAMING_SNAKE_CASE								=			giou_loss_coefficient
     SCREAMING_SNAKE_CASE								=			focal_alpha
     super().__init__(is_encoder_decoder=snake_case__							,    **snake_case__    )

    @property
    def UpperCamelCase			(			self :      Tuple    ):

     """simple docstring"""






     return self.encoder_attention_heads

    @property
    def UpperCamelCase			(			self :      Tuple    ):

     """simple docstring"""






     return self.d_model




    def UpperCamelCase			(			self :      List[Any]    ):

     """simple docstring"""






     SCREAMING_SNAKE_CASE								=			copy.deepcopy(self.__dict__    )
     if self.backbone_config is not None:
      SCREAMING_SNAKE_CASE								=			self.backbone_config.to_dict()
     SCREAMING_SNAKE_CASE								=			self.__class__.model_type
     return output




class      UpperCamelCase (     SCREAMING_SNAKE_CASE   ):
    __UpperCamelCase         =version.parse("1.11"   )

    @property
    def UpperCamelCase			(			self :      Optional[Any]    ):

     """simple docstring"""






     return OrderedDict(
         [
             ('pixel_values', {0: 'batch', 1: 'num_channels', 2: 'height', 3: 'width'}),
             ('pixel_mask', {0: 'batch'}),
         ]    )

    @property
    def UpperCamelCase			(			self :      Dict    ):

     """simple docstring"""






     return 1E-5




    @property
    def UpperCamelCase			(			self :      Any    ):

     """simple docstring"""






     return 1_2




import heapq
import sys

import numpy as np

a_    :						Optional[int]    		=      tuple[int, int]




class      UpperCamelCase :

    def __init__(			self :      Dict    ):

     """simple docstring"""






     SCREAMING_SNAKE_CASE								=			[]
     SCREAMING_SNAKE_CASE								=			set()

    def UpperCamelCase			(			self :      List[Any]    ):

     """simple docstring"""






     if not self.empty():
      return self.elements[0][0]
     else:
      return float('inf'    )

    def UpperCamelCase			(			self :      List[str]    ):

     """simple docstring"""






     return len(self.elements    ) == 0

    def UpperCamelCase			(			self :      Union[str, Any]							,    snake_case__ :      Optional[Any]							,    snake_case__ :      List[Any]    ):

     """simple docstring"""






     if item not in self.set:
      heapq.heappush(self.elements							,    (priority, item)    )
      self.set.add(snake_case__    )
     else:
      # update
      # print("update", item)
      SCREAMING_SNAKE_CASE								=			[]
      ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			heapq.heappop(self.elements    )
      while x != item:
       temp.append((pri, x)    )
       ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			heapq.heappop(self.elements    )
      temp.append((priority, item)    )
      for pro, xxx in temp:
       heapq.heappush(self.elements							,    (pro, xxx)    )

    def UpperCamelCase			(			self :      Dict							,    snake_case__ :      Dict    ):

     """simple docstring"""






     if item in self.set:
      self.set.remove(snake_case__    )
      SCREAMING_SNAKE_CASE								=			[]
      ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			heapq.heappop(self.elements    )
      while x != item:
       temp.append((pro, x)    )
       ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			heapq.heappop(self.elements    )
      for prito, yyy in temp:
       heapq.heappush(self.elements							,    (prito, yyy)    )

    def UpperCamelCase			(			self :      str    ):

     """simple docstring"""






     return self.elements[0][1]




    def UpperCamelCase			(			self :      Tuple    ):

     """simple docstring"""






     ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			heapq.heappop(self.elements    )
     self.set.remove(snake_case__    )
     return (priority, item)


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos		,							_UpperCamelCase		:  TPos	)		->							Optional[Any]:
 '''simple docstring'''


 SCREAMING_SNAKE_CASE								=			np.array(_UpperCamelCase	)
 SCREAMING_SNAKE_CASE								=			np.array(_UpperCamelCase	)
 return np.linalg.norm(a - b	)


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos		,							_UpperCamelCase		:  TPos	)		->							Dict:
 '''simple docstring'''


 return consistent_heuristic(_UpperCamelCase		,							_UpperCamelCase	) // t


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos		,							_UpperCamelCase		:  TPos	)		->							Optional[int]:
 '''simple docstring'''


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


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos		,							_UpperCamelCase		:  int		,							_UpperCamelCase		:  TPos		,							_UpperCamelCase		:  dict[TPos, float]	)		->							List[str]:
 '''simple docstring'''


 SCREAMING_SNAKE_CASE								=			g_function[start] + Wa * heuristics[i](_UpperCamelCase		,							_UpperCamelCase	)
 return ans


def        __lowerCAmelCase    (       _UpperCamelCase		:  List[str]		,							_UpperCamelCase		:  int		,							_UpperCamelCase		:  Tuple	)		->							int:
 '''simple docstring'''


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

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

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

 for i in range(_UpperCamelCase	):
  for j in range(_UpperCamelCase	):
   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:-'	)
 SCREAMING_SNAKE_CASE								=			back_pointer[goal]
 while x != start:
  print(_UpperCamelCase		,							end=' '	)
  SCREAMING_SNAKE_CASE								=			back_pointer[x]
 print(_UpperCamelCase	)
 sys.exit()


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos	)		->							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        __lowerCAmelCase    (       _UpperCamelCase		:  List[Any]		,							_UpperCamelCase		:  Tuple		,							_UpperCamelCase		:  Any		,							_UpperCamelCase		:  Union[str, Any]		,							_UpperCamelCase		:  Union[str, Any]		,							_UpperCamelCase		:  Tuple		,							_UpperCamelCase		:  List[Any]		,							_UpperCamelCase		:  Optional[Any]		,							)		->							List[Any]:
 '''simple docstring'''


 for itera in range(_UpperCamelCase	):
  open_list[itera].remove_element(_UpperCamelCase	)
 # print("s", s)
 # print("j", j)
 ((SCREAMING_SNAKE_CASE)						,	(SCREAMING_SNAKE_CASE))								=			s
 SCREAMING_SNAKE_CASE								=			(x - 1, y)
 SCREAMING_SNAKE_CASE								=			(x + 1, y)
 SCREAMING_SNAKE_CASE								=			(x, y + 1)
 SCREAMING_SNAKE_CASE								=			(x, y - 1)

 for neighbours in [left, right, up, down]:
  if neighbours not in blocks:
   if valid(_UpperCamelCase	) and neighbours not in visited:
    # print("neighbour", neighbours)
    visited.add(_UpperCamelCase	)
    SCREAMING_SNAKE_CASE								=			-1
    SCREAMING_SNAKE_CASE								=			float('inf'	)

   if valid(_UpperCamelCase	) and g_function[neighbours] > g_function[s] + 1:
    SCREAMING_SNAKE_CASE								=			g_function[s] + 1
    SCREAMING_SNAKE_CASE								=			s
    if neighbours not in close_list_anchor:
     open_list[0].put(_UpperCamelCase		,							key(_UpperCamelCase		,							0		,							_UpperCamelCase		,							_UpperCamelCase	)	)
     if neighbours not in close_list_inad:
      for var in range(1		,							_UpperCamelCase	):
       if key(_UpperCamelCase		,							_UpperCamelCase		,							_UpperCamelCase		,							_UpperCamelCase	) <= Wa * key(
           _UpperCamelCase		,							0		,							_UpperCamelCase		,							_UpperCamelCase	):
        open_list[j].put(
            _UpperCamelCase		,							key(_UpperCamelCase		,							_UpperCamelCase		,							_UpperCamelCase		,							_UpperCamelCase	)	)


def        __lowerCAmelCase    (       )		->							Tuple:
 '''simple docstring'''


 SCREAMING_SNAKE_CASE								=			[]
 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


a_    :						str    		=      {0: consistent_heuristic, 1: heuristic_a, 2: heuristic_a}

a_    :						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),
]
a_    :						Union[str, Any]    		=      make_common_ground()


a_    :						Tuple    		=      blocks_blk
# hyper parameters
a_    :						Any    		=      1
a_    :						List[str]    		=      1
a_    :						Union[str, Any]    		=      20
a_    :						Optional[Any]    		=      3  # one consistent and two other inconsistent

# start and end destination
a_    :						int    		=      (0, 0)
a_    :						Optional[int]    		=      (n - 1, n - 1)

a_    :						Union[str, Any]    		=      1


def        __lowerCAmelCase    (       _UpperCamelCase		:  TPos		,							_UpperCamelCase		:  TPos		,							_UpperCamelCase		:  int	)		->							List[Any]:
 '''simple docstring'''


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

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

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

