



"""simple docstring"""


from __future__ import annotations

from collections.abc import Iterator
from typing import Generic, TypeVar

snake_case_				     =       TypeVar("""T""")







class       A_			(     Generic[T]				):



						"""simple docstring"""






						def __init__(					self :Union[str, Any]   ,  lowercase_ :T					)				->			Dict:
												UpperCAmelCase             = data
												UpperCAmelCase             = None






						def __str__(					self :str					)				->			str:
												return f"""{self.data}"""







class       A_			(     Generic[T]				):



						"""simple docstring"""






						def __init__(					self :List[Any]					)				->			None:
												UpperCAmelCase             = None






						def __iter__(					self :List[str]					)				->			Iterator[T]:
												UpperCAmelCase             = self.top
												while node:
																		yield node.data
																		UpperCAmelCase             = node.next






						def __str__(					self :Any					)				->			str:
												return "->".join([str(lowercase_					) for item in self]					)






						def __len__(					self :Tuple					)				->			int:
												return len(tuple(iter(self					)					)					)






						def 	UpperCAmelCase__     (					self :Optional[int]					)				->			bool:
												return self.top is None






						def 	UpperCAmelCase__     (					self :int   ,  lowercase_ :T					)				->			None:
												UpperCAmelCase             = Node(lowercase_					)
												if not self.is_empty():
																		UpperCAmelCase             = self.top
												UpperCAmelCase             = node






						def 	UpperCAmelCase__     (					self :Union[str, Any]					)				->			T:
												if self.is_empty():
																		raise IndexError('pop from empty stack'					)
												assert isinstance(self.top   ,  lowercase_					)
												UpperCAmelCase             = self.top
												UpperCAmelCase             = self.top.next
												return pop_node.data






						def 	UpperCAmelCase__     (					self :Any					)				->			T:
												if self.is_empty():
																		raise IndexError('peek from empty stack'					)

												assert self.top is not None
												return self.top.data






						def 	UpperCAmelCase__     (					self :List[str]					)				->			None:
												UpperCAmelCase             = None


if __name__ == "__main__":
				from doctest import testmod

				testmod()











from __future__ import annotations

lowercase__				:     str 		=						[
    [-1, 0],  # left
    [0, -1],  # down
    [1, 0],  # right
    [0, 1],  # up
]


def 						lowerCamelCase__    (		_A     ,	_A     ,	_A     ,	_A     ,	_A     ,	):







	'''simple docstring'''





	snake_case_		    =     [
	    [0 for col in range(len(grid[0]							)							)] for row in range(len(_A							)							)
	]  # the reference grid
	snake_case_		    =     1
	snake_case_		    =     [
	    [0 for col in range(len(grid[0]							)							)] for row in range(len(_A							)							)
	]  # the action grid

	snake_case_		    =     init[0]
	snake_case_		    =     init[1]
	snake_case_		    =     0
	snake_case_		    =     g + heuristic[x][y]  # cost from starting cell to destination cell
	snake_case_		    =     [[f, g, x, y]]

	snake_case_		    =     False  # flag that is set when search is complete
	snake_case_		    =     False  # flag set if we can't find expand

	while not found and not resign:
		if len(_A							) == 0:
			raise ValueError("Algorithm is unable to find solution"							)
		else:  # to choose the least costliest action so as to move closer to the goal
			cell.sort()
			cell.reverse()
			snake_case_		    =     cell.pop()
			snake_case_		    =     next_cell[2]
			snake_case_		    =     next_cell[3]
			snake_case_		    =     next_cell[1]

			if x == goal[0] and y == goal[1]:
				snake_case_		    =     True
			else:
				for i in range(len(_A							)							):  # to try out different valid actions
					snake_case_		    =     x + DIRECTIONS[i][0]
					snake_case_		    =     y + DIRECTIONS[i][1]
					if xa >= 0 and xa < len(_A							) and ya >= 0 and ya < len(grid[0]							):
						if closed[xa][ya] == 0 and grid[xa][ya] == 0:
							snake_case_		    =     g + cost
							snake_case_		    =     ga + heuristic[xa][ya]
							cell.append([fa, ga, xa, ya]							)
							snake_case_		    =     1
							snake_case_		    =     i
	snake_case_		    =     []
	snake_case_		    =     goal[0]
	snake_case_		    =     goal[1]
	invpath.append([x, y]							)  # we get the reverse path from here
	while x != init[0] or y != init[1]:
		snake_case_		    =     x - DIRECTIONS[action[x][y]][0]
		snake_case_		    =     y - DIRECTIONS[action[x][y]][1]
		snake_case_		    =     xa
		snake_case_		    =     ya
		invpath.append([x, y]							)

	snake_case_		    =     []
	for i in range(len(_A							)							):
		path.append(invpath[len(_A							) - 1 - i]							)
	return path, action


if __name__ == "__main__":
		lowercase__				:     Union[str, Any] 		=						[
		    [0, 1, 0, 0, 0, 0],
		    [0, 1, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
		    [0, 1, 0, 0, 0, 0],
		    [0, 1, 0, 0, 1, 0],
		    [0, 0, 0, 0, 1, 0],
		]

		lowercase__				:     Optional[Any] 		=						[0, 0]
		# all coordinates are given in format [y,x]
		lowercase__				:     Tuple 		=						[len(grid) - 1, len(grid[0]) - 1]
		lowercase__				:     Dict 		=						1

		# the cost map which pushes the path closer to the goal
		lowercase__				:     Any 		=						[[0 for row in range(len(grid[0]))] for col in range(len(grid))]
		for i in range(len(grid)):
				for j in range(len(grid[0])):
						lowercase__				:     Union[str, Any] 		=						abs(i - goal[0]) + abs(j - goal[1])
						if grid[i][j] == 1:
								# added extra penalty in the heuristic map
								lowercase__				:     int 		=						99

		lowercase__		,       lowercase__				:     Tuple 		=						search(grid, init, goal, cost, heuristic)

		print("ACTION MAP")
		for i in range(len(action)):
				print(action[i])

		for i in range(len(path)):
				print(path[i])
