text: from astar_path import AStar
  from grid_loader import Grid
  from matplotlib import pyplot as plt
  
  img_path = "./data/circuit.png" # Grid path
  grid_res = 0.05 # m / pixel
  start = (6, 3)
  end = (24, 25)
  # Load the Grid object
  grid_obj = Grid()
  grid_obj.load_from_image(img_path, grid_res)
  plt.figure()
  plt.imshow(grid_obj.grid_data.T, cmap=plt.cm.gray_r, origin='lower', 
              extent=[0, grid_obj.w_m, 0, grid_obj.h_m])
  # Find Astar path from start to end
  astar_planner = AStar()
  astar_planner.load_grid(grid_obj)
  astar_path_m = astar_planner.get_route(start, end)
  # Visualize everything
  plt.figure()
  plt.imshow(grid_obj.grid_data.T, cmap=plt.cm.gray_r, origin='lower', 
              extent=[0, grid_obj.w_m, 0, grid_obj.h_m])
  plt.plot(start[0], start[1], 'g+', markersize=10)
  plt.plot(end[0], end[1], 'r+', markersize=10)
  plt.plot(astar_path_m[:, 0], astar_path_m[:, 1], 'r.')
  plt.show()
  