text: import cv2 as cv
  import numpy as np
  
  def idaStarSearch (img, mapToPath, start, goal, squareHeight, squareWidth):
      path = []
      frontier = []
      bound = 0
      
      node
      g = 0
      f = 0
      h = []
      cost = []
      is_goal = []
      successors = []
      ida_star = []
      
      
      
  
  
      while(bound >= 0):
          frontier = sorted(frontier, key=lambda frontier: frontier[2])
          currentNode = frontier[0]
          del frontier[0]
  
          cy,cx,cfScore = currentNode
          
          if (cy == gy and cx == gx):
              return path
  
  
          
  
          
  