def h_cost(self, s):
plan = AStar((s[0], s[1]), (self._e[0], self._e[1]), self._map_info)
if plan.run(display=False):
path = plan.reconstruct_path()
d = 0
for i in range(len(path) - 1):
d += self.distance(path[i], path[i + 1])
return d
