#include <algorithm>
#include <vector>
#include <queue>

#include <cstdio>
#include <cstdlib>
#include <cmath>
#include <cerrno>

#include "alryslib.c"

using namespace std;

int index(int x, int a, int y, int b, int width)
{
  return x * 3 + a + 1 + (y * 3 + b + 1) * width;
}

double cost(int s, int d, int width, int size, int boat)
{
  int a, b, c1, c2, k, ls;
  double x, x1, x2, y, y1, y2;
  double result;

  if(s < 0 || s >= size) return -1.0;
  if(d < 0 || d >= size) return -1.0;

  result = 0.1;

  a = d % width;
  b = d / width;

  if(a % 3 == 1) result -= 1.0e-10;
  if(b % 3 == 1) result -= 1.0e-10;

  x2 = a / 3 + (a % 3 - 1) * 1.0e-14;
  y2 = b / 3 + (b % 3 - 1) * 1.0e-14;
  

  c2 = data[(int)x2 + (int)y2 * (width / 3)];
  if(c2 == 1 || (c2 == 3 && !boat)) return -1.0;

  a = s % width;
  b = s / width;

  if(a % 3 == 1) result -= 1.0e-10;
  if(b % 3 == 1) result -= 1.0e-10;

  x1 = a / 3 + (a % 3 - 1) * 1.0e-14;
  y1 = b / 3 + (b % 3 - 1) * 1.0e-14;

  segments(x1, y1, x2, y2, &ls);
  x = x1;
  y = y1;

  for(k = 1; k < ls; ++k)
  {
    c1 = data[(int)MIN(x, lx[k]) + (int)MIN(y, ly[k]) * (width / 3)];
    c2 = data[(int)lx[k] + (int)ly[k] * (width / 3)];

    if(c1 == 1 || c2 == 1 || ((c1 == 3 || c2 == 3) && !boat)) return -1.0;

    result += hypot(lx[k] - x, ly[k] - y) * (0.2 + (c1 == 5) * 0.1 + (c1 == 4) * 0.2 + (c1 == 2) * 0.3);

    x = lx[k];
    y = ly[k];
  }

  return result;
}

void astar(int s, int d, int width, int size, int boat)
{
  int a, b, i, j, u, n, *prev;
  double c, x, y, *dist;
  vector<int> path;
  typedef pair<double, int> element;
  priority_queue<element, vector<element>, greater<element> > q;

  prev = new int[size];
  dist = new double[size];

  for(i = 0; i < size; ++i)
  {
    prev[i] = -1;
    dist[i] = 1.0e9;
  }

  q.emplace(0, s);
  prev[s] = s;
  dist[s] = 0;

  while(!q.empty())
  {
    u = q.top().second;
    q.pop();

    if(u == d) break;

    a = u % width;
    b = u / width;
    for(i = -120; i < 121; ++i)
    {
      for(j = -120; j < 121; ++j)
      {
        if(i == 0 && j == 0) continue;
        n = a + i + (b + j) * width;
        c = cost(u, n, width, size, boat);
        if(c < 0) continue;
        c += dist[u];
        if(c < dist[n])
        {
          q.emplace(c, n);
          prev[n] = u;
          dist[n] = c;
        }
      }
    }
  }

  if(u == d)
  {
    while(u != s)
    {
      path.push_back(u);
      u = prev[u];
    }
    path.push_back(s);
    reverse(path.begin(), path.end());
    printf("250 0 0\n");
    for(auto u : path)
    {
      a = u % width;
      b = u / width;
      x = a / 3;
      a = a % 3 - 1;
      y = b / 3;
      b = b % 3 - 1;
      printf("%7.3f %2d %6.3f %2d\n", x, a, y, b);
    }
  }

  delete[] dist;
  delete[] prev;
}

int main(int argc, char *argv[])
{
  char *end;
  long number;
  int s, d, width, size;

  errno = 0;
  number = (argc == 2) ? strtol(argv[1], &end, 10) : -1;
  if(errno != 0 || end == argv[1] || number < 0 || number > 15)
  {
    fprintf(stderr, "Usage: search [0-15]\n");
    return EXIT_FAILURE;
  }

  width = 146 * 3;
  size = 91 * 3 * width;

  switch(number)
  {
/*
    case  0: s = index( 49,  1, 43,  1, width); d = index( 18, -1, 39, -1, width); break;
    case  1: s = index( 18, -1, 39, -1, width); d = index( 38,  1, 49,  1, width); break;
    case  2: s = index( 38,  1, 49,  1, width); d = index(  9, -1, 59, -1, width); break;
    case  3: s = index(  9, -1, 59, -1, width); d = index( 73, -1, 83,  1, width); break;
    case  4: s = index( 73, -1, 83,  1, width); d = index(106,  1, 40, -1, width); break;
    case  5: s = index(106,  1, 40, -1, width); d = index(107,  1, 69,  1, width); break;
    case  6: s = index(107,  1, 69,  1, width); d = index(119,  1, 84, -1, width); break;
    case  7: s = index(119,  1, 84, -1, width); d = index( 73, -1, 83,  1, width); break;
    case  8: s = index( 73, -1, 83,  1, width); d = index(  2, -1, 89,  1, width); break;
    case  9: s = index(  2, -1, 89,  1, width); d = index( 13, -1, 80,  1, width); break;
    case 10: s = index( 13, -1, 80,  1, width); d = index( 72,  1, 83,  1, width); break;
    case 11: s = index( 72,  1, 83,  1, width); d = index( 70, -1, 51,  1, width); break;
    case 12: s = index( 70, -1, 51,  1, width); d = index( 70, -1, 18, -1, width); break;
    case 13: s = index( 70, -1, 18, -1, width); d = index(141,  1, 71,  1, width); break;
    case 14: s = index(141,  1, 71,  1, width); d = index(131, -1, 62,  1, width); break;
    case 15: s = index(131, -1, 62,  1, width); d = index(115, -1, 26,  1, width); break;
*/
/*
    case  0: s = index( 49,  1, 43,  1, width); d = index( 18, -1, 39, -1, width); break;
    case  1: s = index( 18, -1, 39, -1, width); d = index( 38,  1, 49,  1, width); break;
    case  2: s = index( 38,  1, 49,  1, width); d = index(  9, -1, 59, -1, width); break;
    case  3: s = index(  9, -1, 59, -1, width); d = index( 72,  1, 83,  1, width); break;
    case  4: s = index( 72,  1, 83,  1, width); d = index( 13, -1, 80,  1, width); break;
    case  5: s = index( 13, -1, 80,  1, width); d = index(  2, -1, 89,  1, width); break;
    case  6: s = index(  2, -1, 89,  1, width); d = index( 73, -1, 83,  1, width); break;
    case  7: s = index( 73, -1, 83,  1, width); d = index(119,  1, 84, -1, width); break;
    case  8: s = index(119,  1, 84, -1, width); d = index(107,  1, 69,  1, width); break;
    case  9: s = index(107,  1, 69,  1, width); d = index(106,  1, 40, -1, width); break;
    case 10: s = index(106,  1, 40, -1, width); d = index( 73, -1, 83,  1, width); break;
    case 11: s = index( 73, -1, 83,  1, width); d = index( 70, -1, 51,  1, width); break;
    case 12: s = index( 70, -1, 51,  1, width); d = index( 70, -1, 18, -1, width); break;
    case 13: s = index( 70, -1, 18, -1, width); d = index(141,  1, 71,  1, width); break;
    case 14: s = index(141,  1, 71,  1, width); d = index(131, -1, 62,  1, width); break;
    case 15: s = index(131, -1, 62,  1, width); d = index(115, -1, 26,  1, width); break;
*/
    case  0: s = index( 49,  1, 43,  1, width); d = index( 18, -1, 39, -1, width); break;
    case  1: s = index( 18, -1, 39, -1, width); d = index( 38,  1, 49,  1, width); break;
    case  2: s = index( 38,  1, 49,  1, width); d = index(  9, -1, 59, -1, width); break;
    case  3: s = index(  9, -1, 59, -1, width); d = index( 72,  1, 83,  1, width); break;
    case  4: s = index( 72,  1, 83,  1, width); d = index(  2, -1, 89,  1, width); break;
    case  5: s = index(  2, -1, 89,  1, width); d = index(107,  1, 69,  1, width); break;
    case  6: s = index(107,  1, 69,  1, width); d = index(106,  1, 40, -1, width); break;
    case  7: s = index(106,  1, 40, -1, width); d = index(107,  1, 69,  1, width); break;
    case  8: s = index(107,  1, 69,  1, width); d = index(119,  1, 84, -1, width); break;
    case  9: s = index(119,  1, 84, -1, width); d = index( 73, -1, 83,  1, width); break;
    case 10: s = index( 73, -1, 83,  1, width); d = index( 70, -1, 51,  1, width); break;
    case 11: s = index( 70, -1, 51,  1, width); d = index( 70, -1, 18, -1, width); break;
    case 12: s = index( 70, -1, 18, -1, width); d = index(141,  1, 71,  1, width); break;
    case 13: s = index(141,  1, 71,  1, width); d = index(130,  1, 63, -1, width); break;
    case 14: s = index(130,  1, 63, -1, width); d = index(104, -1, 56,  1, width); break;
    case 15: s = index(104, -1, 56,  1, width); d = index(115, -1, 26,  1, width); break;
  }

  astar(s, d, width, size, number >= 14);

  return EXIT_SUCCESS;
}