






'''simple docstring'''







_A	:			List[str]         ='''ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz0123456789+/'''





def  SCREAMING_SNAKE_CASE_       (UpperCamelCase      )      ->       bytes:
							# Make sure the supplied data is a bytes-like object
							if not isinstance(UpperCamelCase				,			UpperCamelCase      ):
														lowerCamelCase__					:	Dict         =       f'''a bytes-like object is required, not \'{data.__class__.__name__}\''''
														raise TypeError(UpperCamelCase      )

							lowerCamelCase__					:	int         =       """""".join(bin(UpperCamelCase      )[2:].zfill(8      ) for byte in data      )

							lowerCamelCase__					:	int         =       len(UpperCamelCase      ) % 6 != 0

							if padding_needed:
														# The padding that will be added later
														lowerCamelCase__					:	Optional[Any]         =       b"""=""" * ((6 - len(UpperCamelCase      ) % 6) // 2)

														# Append binary_stream with arbitrary binary digits (0's by default) to make its
														# length a multiple of 6.
														binary_stream += "0" * (6 - len(UpperCamelCase      ) % 6)
							else:
														lowerCamelCase__					:	Optional[int]         =       b""""""

							# Encode every 6 binary digits to their corresponding Base64 character
							return (
							    "".join(
							        B64_CHARSET[int(binary_stream[index : index + 6]				,			2      )]
							        for index in range(0				,			len(UpperCamelCase      )				,			6      )      ).encode()
							    + padding
							)





def  SCREAMING_SNAKE_CASE_       (UpperCamelCase      )      ->       bytes:
							# Make sure encoded_data is either a string or a bytes-like object
							if not isinstance(UpperCamelCase				,			UpperCamelCase      ) and not isinstance(UpperCamelCase				,			UpperCamelCase      ):
														lowerCamelCase__					:	int         =       (
														    """argument should be a bytes-like object or ASCII string, """
														    f'''not \'{encoded_data.__class__.__name__}\''''
														)
														raise TypeError(UpperCamelCase      )

							# In case encoded_data is a bytes-like object, make sure it contains only
							# ASCII characters so we convert it to a string object
							if isinstance(UpperCamelCase				,			UpperCamelCase      ):
														try:
																					lowerCamelCase__					:	str         =       encoded_data.decode("""utf-8"""      )
														except UnicodeDecodeError:
																					raise ValueError("""base64 encoded data should only contain ASCII characters"""      )

							lowerCamelCase__					:	Tuple         =       encoded_data.count("""="""      )

							# Check if the encoded string contains non base64 characters
							if padding:
														assert all(
														    char in B64_CHARSET for char in encoded_data[:-padding]      ), "Invalid base64 character(s) found."
							else:
														assert all(
														    char in B64_CHARSET for char in encoded_data      ), "Invalid base64 character(s) found."

							# Check the padding
							assert len(UpperCamelCase      ) % 4 == 0 and padding < 3, "Incorrect padding"

							if padding:
														# Remove padding if there is one
														lowerCamelCase__					:	Any         =       encoded_data[:-padding]

														lowerCamelCase__					:	int         =       """""".join(
														    bin(B64_CHARSET.index(UpperCamelCase      )      )[2:].zfill(6      ) for char in encoded_data      )[: -padding * 2]
							else:
														lowerCamelCase__					:	Tuple         =       """""".join(
														    bin(B64_CHARSET.index(UpperCamelCase      )      )[2:].zfill(6      ) for char in encoded_data      )

							lowerCamelCase__					:	List[Any]         =       [
							    int(binary_stream[index : index + 8]				,			2      )
							    for index in range(0				,			len(UpperCamelCase      )				,			8      )
							]

							return bytes(UpperCamelCase      )


if __name__ == "__main__":
			import doctest

			doctest.testmod()






import numpy as np

class 		UpperCAmelCase__			:




			'''simple docstring'''






			def __init__(   self							: List[Any] ):
					'''simple docstring'''





					__UpperCAmelCase    :     Optional[Any]													=	(0, 0)
					__UpperCAmelCase    :     List[str]													=	None
					__UpperCAmelCase    :     int													=	0
					__UpperCAmelCase    :     Union[str, Any]													=	0
					__UpperCAmelCase    :     List[Any]													=	0




			def __eq__(   self							: Optional[int]       ,       a_							: List[Any] ):
					'''simple docstring'''





					return self.position == cell.position




			def  snake_case__     (   self							: List[Any] ):
					'''simple docstring'''





					print(self.position )

class 		UpperCAmelCase__			:




			'''simple docstring'''






			def __init__(   self							: str       ,       a_							: Dict=(5, 5) ):
					'''simple docstring'''





					__UpperCAmelCase    :     str													=	np.zeros(a_ )
					__UpperCAmelCase    :     List[Any]													=	world_size[0]
					__UpperCAmelCase    :     List[str]													=	world_size[1]




			def  snake_case__     (   self							: Tuple ):
					'''simple docstring'''





					print(self.w )




			def  snake_case__     (   self							: Union[str, Any]       ,       a_							: Tuple ):
					'''simple docstring'''





					__UpperCAmelCase    :     Optional[Any]													=	[
					    (-1, -1),
					    (-1, 0),
					    (-1, 1),
					    (0, -1),
					    (0, 1),
					    (1, -1),
					    (1, 0),
					    (1, 1),
					]
					__UpperCAmelCase    :     str													=	cell.position[0]
					__UpperCAmelCase    :     List[Any]													=	cell.position[1]
					__UpperCAmelCase    :     str													=	[]
					for n in neughbour_cord:
							__UpperCAmelCase    :     Optional[Any]													=	current_x + n[0]
							__UpperCAmelCase    :     Any													=	current_y + n[1]
							if 0 <= x < self.world_x_limit and 0 <= y < self.world_y_limit:
									__UpperCAmelCase    :     int													=	Cell()
									__UpperCAmelCase    :     List[str]													=	(x, y)
									__UpperCAmelCase    :     List[Any]													=	cell
									neighbours.append(a_ )
					return neighbours

def        a						(      _UpperCAmelCase							:					List[Any] ,   _UpperCAmelCase							:					Any ,   _UpperCAmelCase							:					int						):







		'''simple docstring'''





		__UpperCAmelCase    :     List[Any]													=	[]
		__UpperCAmelCase    :     Optional[Any]													=	[]
		_open.append(_UpperCAmelCase						)

		while _open:
				__UpperCAmelCase    :     str													=	np.argmin([n.f for n in _open]						)
				__UpperCAmelCase    :     Optional[Any]													=	_open[min_f]
				_closed.append(_open.pop(_UpperCAmelCase						)						)
				if current == goal:
						break
				for n in world.get_neigbours(_UpperCAmelCase						):
						for c in _closed:
								if c == n:
										continue
						__UpperCAmelCase    :     Optional[Any]													=	current.g + 1
						__UpperCAmelCase							,					__UpperCAmelCase    :     Union[str, Any]													=	n.position
						__UpperCAmelCase							,					__UpperCAmelCase    :     Tuple													=	goal.position
						__UpperCAmelCase    :     Union[str, Any]													=	(ya - ya) ** 2 + (xa - xa) ** 2
						__UpperCAmelCase    :     Optional[Any]													=	n.h + n.g

						for c in _open:
								if c == n and c.f < n.f:
										continue
						_open.append(_UpperCAmelCase						)
		__UpperCAmelCase    :     str													=	[]
		while current.parent is not None:
				path.append(current.position						)
				__UpperCAmelCase    :     int													=	current.parent
		path.append(current.position						)
		return path[::-1]


if __name__ == "__main__":
				__A   			=Gridworld()
				# Start position and goal
				__A   			=Cell()
				__A   			=(0, 0)
				__A   			=Cell()
				__A   			=(4, 4)
				print(f'''path from {start.position} to {goal.position}''')
				__A   			=astar(world, start, goal)
				#   Just for visual reasons.
				for i in s:
								__A   			=1
				print(world.w)





