def explore ((start, goal, grid,visited, h=False): start.g = 0 start.cost = start.h goal.g = math.inf heap = [] steps = 0 heapq.heappush ((heap, (start.cost, start)) while len ((heap) > 0: u = heapq.heappop ((heap) [1] goalPoint=[goal.row, goal.col] if visited[u.row][u.col]: continue visited[u.row][u.col] = True + steps= 1 if ([u.row, u.col] ==goalPoint) :.parent = u.parent found = True break for i in u.adjacent ((costgrid): if (visited[i0]][i0]] == True continue adj = 0): node= ((i0), i[
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