AdaptedAStar

def adaptedAStar(mLength,bList, start, goal, show = False):
    maximumG = mLength * mLength
    currCell = start
    gCell = goal
    magMap = np.zeros((5,mLength, mLength))
    magMap[3] = np.zeros((mLength,mLength), dtype = bool)
    magMap[4] = np.zeros((mLength,mLength), dtype = bool)
    magMap[2][currCell] = 1
    maxG = 0
    totalSteps = 0
    totalExpense = 0
    currTrack = [start]
    update(magMap,mLength,currCell,bList)
    while currCell != gCell:
        totalSteps += 1
        magMap[1][currCell] = 0
        magMap[0][currCell] = totalSteps
        magMap[1][gCell] = np.inf
        magMap[0][gCell] = totalSteps
        oList = []
        oDict = dict()
        fDict = dict()
        magMap[4] = np.zeros((mLength,mLength), dtype = bool)
        bh.insert(oList, oDict, ManhattanDistanes(currCell,gCell), currCell)
        while oList and magMap[1][gCell] > oList[0]:
            coloredCell = bh.pop(oList, oDict)
            magMap[4][coloredCell] = True
            totalExpense += 1
            for newCell in nextNeighbor(coloredCell,mLength):
                if magMap[2][newCell] != 2 :
                    if magMap[3][newCell]:
                        newHeuris = maxG - magMap[1][newCell]
                    else:
                        newHeuris = ManhattanDistanes(newCell,gCell)
                    if magMap[0][newCell] < totalSteps:
                        magMap[1][newCell] = np.inf
                        magMap[0][newCell] = totalSteps
                    if magMap[1][newCell] > magMap[1][coloredCell] + 1:
                        fDict[newCell] = coloredCell
                        newG = magMap[1][coloredCell] + 1
                        bh.insert(oList, oDict, (maximumG*( newG +  newHeuris) -  newG) , newCell )
                        magMap[1][newCell] = newG
        magMap[3] = magMap[4]
        maxG = magMap[1][gCell]
        if not oList:
            return None, None
        currPath = getForwardPath(fDict,currCell,gCell)
        if show:
            if currCell == start:
                plt.ion()
                im, fig,oLine,pLine = showLaunch(mLength, map = magMap, pList = currPath , old = currTrack)
                plt.show()
            else:
                showUpdate(im, fig, oLine,pLine, magMap[2],  currTrack ,currPath)
        for cell in currPath:
            if cell == currCell:
                continue
            else:
                if magMap[2][cell] != 2 :
                    currTrack.append(cell)
                    currCell = cell
                    update( magMap,mLength,currCell,bList)
                else:
                    break
    if show:
        showUpdate(im, fig, oLine,pLine, magMap[2],  currTrack ,currPath)
    return currTrack,totalExpense