code: import numpy as np
  import matplotlib.pyplot as plt
  import math
  import lidar_to_grid_map as lg
  from grid_mapping_for_a_star import OccupancyGridMap
  from a_star_for_ogm_testing import a_star
  
  f = "mesures.txt"
  
  def read_measures(file):
      measures = [line.split(",") for line in open(file)]
      angles = []
      distances = []
      for measure in measures:
          angles.append(float(measure[0]))
          distances.append(float(measure[1]))
      ang = np.array(angles)
      dist = np.array(distances)
      return dist,ang
  
  def map_surroundings(dist):
      xyreso = 0.02  # x-y grid resolution
      yawreso = math.radians(3.1)  # yaw angle resolution [rad]
      ox = np.sin(ang) * dist
      oy = np.cos(ang) * dist
      pmap, minx, maxx, miny, maxy, xyreso = lg.generate_ray_casting_grid_map(ox, oy, xyreso, False)
      xyres = np.array(pmap).shape
      return pmap
  
  def input_points(pmap):
      for x in dist:
          x = x / 10
      ogm = OccupancyGridMap(pmap, 1)
      path, path_idx = a_star((25,30), (50,40),ogm)
      xPath, yPath = zip(*path)
      return ogm
  
  dist, ang = read_measures(f)
  mapp = map_surroundings(dist)
  tipus_=input_points(mapp)
apis: numpy.array numpy.sin numpy.cos