class_docstr: This class provides a very high level route plan.
class_docstr_tok: ["This","class","provides","a","very","high","level","route","plan","."]
docstr: This function finds the shortest path connecting origin and destination
  using A* search with distance heuristic.
  origin      :   carla.Location object of start position
  destination :   carla.Location object of of end position
  return      :   path as list of node ids (as int) of the graph self._graph
  connecting origin and destination
docstr_tok: ["This","function","finds","the","shortest","path","connecting","origin","and","destination","using","A","*","search","with","distance","heuristic",".","origin",":","carla.Location","object","of","start","position","destination",":","carla.Location","object","of","of","end","position","return",":","path","as","list","of","node","ids","(","as","int",")","of","the","graph","self._graph","connecting","origin","and","destination"]
code: def _path_search(self, origin, destination):
      """
      This function finds the shortest path connecting origin and destination
      using A* search with distance heuristic.
      origin      :   carla.Location object of start position
      destination :   carla.Location object of of end position
      return      :   path as list of node ids (as int) of the graph self._graph
      connecting origin and destination
      """
      start, end = self._localize(origin), self._localize(destination)
  
      route = nx.astar_path(
          self._graph,
          source=start[0],
          target=end[0],
          heuristic=self._distance_heuristic,
          weight="length",
      )
      route.append(end[1])
      return route
  
file_path: carla/PythonAPI/carla/agents/navigation/global_route_planner.py
imports: import math
  import numpy
  import networkx
  import carla
  from agents.navigation.local_planner import RoadOption
  from agents.tools.misc import vector
label_desc: Use image node_id 9 for calling the GlobalRoutePlanner obj's underlying member method code with example usage: obj._path_search(origin, destination) and returns: route