

'''simple docstring'''






from __future__ import annotations

A__    :       Optional[int]              =list[tuple[int, int]]

A__    :       Union[str, Any]              =[
    [0, 0, 0, 0, 0, 0, 0],
    [0, 1, 0, 0, 0, 0, 0],  # 0 are free path whereas 1's are obstacles
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 1, 0, 0, 0, 0],
    [1, 0, 1, 0, 0, 0, 0],
    [0, 0, 0, 0, 0, 0, 0],
    [0, 0, 0, 0, 1, 0, 0],
]

A__    :       Optional[int]              =([-1, 0], [0, -1], [1, 0], [0, 1])  # up, left, down, right




class 			UpperCAmelCase					:




      def __init__(      self      :			Dict      ,      __snake_case      :			int      ,      __snake_case      :			int      ,      __snake_case      :			int      ,      __snake_case      :			int      ,      __snake_case      :			float      ,      __snake_case      :			Node | None      ,      )    ->				List[str]:
            _lowerCAmelCase												=							pos_x
            _lowerCAmelCase												=							pos_y
            _lowerCAmelCase												=							(pos_y, pos_x)
            _lowerCAmelCase												=							goal_x
            _lowerCAmelCase												=							goal_y
            _lowerCAmelCase												=							g_cost
            _lowerCAmelCase												=							parent
            _lowerCAmelCase												=							self.calculate_heuristic()




      def     lowercase__   (      self      :			List[Any]  )    ->				float:
            _lowerCAmelCase												=							abs(self.pos_x - self.goal_x  )
            _lowerCAmelCase												=							abs(self.pos_y - self.goal_y  )
            return dx + dy




      def __lt__(      self      :			Optional[int]      ,      __snake_case      :			str  )    ->				bool:
            return self.f_cost < other.f_cost




class 			UpperCAmelCase					:




      def __init__(      self      :			Any      ,      __snake_case      :			tuple[int, int]      ,      __snake_case      :			tuple[int, int]  )    ->				List[Any]:
            _lowerCAmelCase												=							Node(start[1]      ,      start[0]      ,      goal[1]      ,      goal[0]      ,      0      ,      __snake_case  )
            _lowerCAmelCase												=							Node(goal[1]      ,      goal[0]      ,      goal[1]      ,      goal[0]      ,      9_99_99      ,      __snake_case  )

            _lowerCAmelCase												=							[self.start]
            _lowerCAmelCase												=							[]

            _lowerCAmelCase												=							False




      def     lowercase__   (      self      :			List[str]  )    ->				Path | None:
            while self.open_nodes:
                  # Open Nodes are sorted using __lt__
                  self.open_nodes.sort()
                  _lowerCAmelCase												=							self.open_nodes.pop(0  )

                  if current_node.pos == self.target.pos:
                        _lowerCAmelCase												=							True
                        return self.retrace_path(__snake_case  )

                  self.closed_nodes.append(__snake_case  )
                  _lowerCAmelCase												=							self.get_successors(__snake_case  )

                  for child_node in successors:
                        if child_node in self.closed_nodes:
                              continue

                        if child_node not in self.open_nodes:
                              self.open_nodes.append(__snake_case  )
                        else:
                              # retrieve the best current path
                              _lowerCAmelCase												=							self.open_nodes.pop(self.open_nodes.index(__snake_case  )  )

                              if child_node.g_cost < better_node.g_cost:
                                    self.open_nodes.append(__snake_case  )
                              else:
                                    self.open_nodes.append(__snake_case  )

            if not self.reached:
                  return [self.start.pos]
            return None




      def     lowercase__   (      self      :			Tuple      ,      __snake_case      :			Node  )    ->				list[Node]:
            _lowerCAmelCase												=							[]
            for action in delta:
                  _lowerCAmelCase												=							parent.pos_x + action[1]
                  _lowerCAmelCase												=							parent.pos_y + action[0]

                  if not (0 <= pos_x <= len(grid[0]  ) - 1 and 0 <= pos_y <= len(__snake_case  ) - 1):
                        continue

                  if grid[pos_y][pos_x] != 0:
                        continue

                  successors.append(
                      Node(
                          __snake_case      ,      __snake_case      ,      self.target.pos_y      ,      self.target.pos_x      ,      parent.g_cost + 1      ,      __snake_case      ,      )  )
            return successors




      def     lowercase__   (      self      :			List[str]      ,      __snake_case      :			Node | None  )    ->				Path:
            _lowerCAmelCase												=							node
            _lowerCAmelCase												=							[]
            while current_node is not None:
                  path.append((current_node.pos_y, current_node.pos_x)  )
                  _lowerCAmelCase												=							current_node.parent
            path.reverse()
            return path


if __name__ == "__main__":
      A__    :       Optional[int]              =(0, 0)
      A__    :       Optional[int]              =(len(grid) - 1, len(grid[0]) - 1)
      for elem in grid:
            print(elem)

      print('''------''')

      A__    :       Union[str, Any]              =GreedyBestFirst(init, goal)
      A__    :       str              =greedy_bf.search()
      if path:
            for pos_x, pos_y in path:
                  A__    :       Any              =2

            for elem in grid:
                  print(elem)













'''simple docstring'''






# Author: OMKAR PATHAK, Nwachukwu Chidiebere

# Use a Python dictionary to construct the graph.
from __future__ import annotations

from pprint import pformat
from typing import Generic, TypeVar

A__    :       List[str]              =TypeVar('''T''')




class 			UpperCAmelCase					(      Generic[T]       ):




      def __init__(      self      :			Tuple      ,      __snake_case      :			bool = True  )    ->				None:
            _lowerCAmelCase												=							{}  # dictionary of lists
            _lowerCAmelCase												=							directed




      def     lowercase__   (      self      :			Union[str, Any]      ,      __snake_case      :			T      ,      __snake_case      :			T  )    ->				GraphAdjacencyList[T]:

            if not self.directed:  # For undirected graphs
                  # if both source vertex and destination vertex are both present in the
                  # adjacency list, add destination vertex to source vertex list of adjacent
                  # vertices and add source vertex to destination vertex list of adjacent
                  # vertices.
                  if source_vertex in self.adj_list and destination_vertex in self.adj_list:
                        self.adj_list[source_vertex].append(__snake_case  )
                        self.adj_list[destination_vertex].append(__snake_case  )
                  # if only source vertex is present in adjacency list, add destination vertex
                  # to source vertex list of adjacent vertices, then create a new vertex with
                  # destination vertex as key and assign a list containing the source vertex
                  # as it's first adjacent vertex.
                  elif source_vertex in self.adj_list:
                        self.adj_list[source_vertex].append(__snake_case  )
                        _lowerCAmelCase												=							[source_vertex]
                  # if only destination vertex is present in adjacency list, add source vertex
                  # to destination vertex list of adjacent vertices, then create a new vertex
                  # with source vertex as key and assign a list containing the source vertex
                  # as it's first adjacent vertex.
                  elif destination_vertex in self.adj_list:
                        self.adj_list[destination_vertex].append(__snake_case  )
                        _lowerCAmelCase												=							[destination_vertex]
                  # if both source vertex and destination vertex are not present in adjacency
                  # list, create a new vertex with source vertex as key and assign a list
                  # containing the destination vertex as it's first adjacent vertex also
                  # create a new vertex with destination vertex as key and assign a list
                  # containing the source vertex as it's first adjacent vertex.
                  else:
                        _lowerCAmelCase												=							[destination_vertex]
                        _lowerCAmelCase												=							[source_vertex]
            else:  # For directed graphs
                  # if both source vertex and destination vertex are present in adjacency
                  # list, add destination vertex to source vertex list of adjacent vertices.
                  if source_vertex in self.adj_list and destination_vertex in self.adj_list:
                        self.adj_list[source_vertex].append(__snake_case  )
                  # if only source vertex is present in adjacency list, add destination
                  # vertex to source vertex list of adjacent vertices and create a new vertex
                  # with destination vertex as key, which has no adjacent vertex
                  elif source_vertex in self.adj_list:
                        self.adj_list[source_vertex].append(__snake_case  )
                        _lowerCAmelCase												=							[]
                  # if only destination vertex is present in adjacency list, create a new
                  # vertex with source vertex as key and assign a list containing destination
                  # vertex as first adjacent vertex
                  elif destination_vertex in self.adj_list:
                        _lowerCAmelCase												=							[destination_vertex]
                  # if both source vertex and destination vertex are not present in adjacency
                  # list, create a new vertex with source vertex as key and a list containing
                  # destination vertex as it's first adjacent vertex. Then create a new vertex
                  # with destination vertex as key, which has no adjacent vertex
                  else:
                        _lowerCAmelCase												=							[destination_vertex]
                        _lowerCAmelCase												=							[]

            return self




      def __repr__(      self      :			int  )    ->				str:
            return pformat(self.adj_list  )






