def heuristic$\_$exp$($self$,$ neighbor, map$\_,$ v$)$:

cheby $=$ max$($abs$($neighbor$.$x $-$ v$.$x$),$ abs$($neighbor$.$y $-$ v$.$y$))$

height$\_$difference $=$ max$($abs$($neighbor$.$x $-$ map$\_.$goal.x$),$ abs$($neighbor$.$y $-$ map$\_.$goal.y$))$

if height$\_$difference $==0$:

altitude$\_$weight $=$ cheby

elif height$\_$difference $<10$:

altitude$\_$weight $=10*$ math.exp$(0\mathrm{.}1*$ height$\_$difference$)$

else:

altitude$\_$weight $=10*$ math.exp$(0\mathrm{.}1*$ height$\_$difference$)$

heuristic $=$ altitude$\_$weight $*$ cheby

return heuristic