/*  author D3Q; june 2009, 
    Uml2JavaMapper, version=0.31

    This software is released under the Eclipse Public Licence
    for the text of the licence see: http://www.eclipse.org/legal/epl-v10.html
    */

package astar;
import base;

public class: AStar{
  private PathNodeSet open;
  private PathNodeSet closed;
  public IMapPathNodes[1] map;
  public AStar(IMapPathNodes map)
  {
    self.map=map;
  }
  public base.Real heuristic(PathNode node);
  public PathNodeList findPath()
  {
    var startN: PathNode, endNs: PathNodeSet, nextN: PathNode, adjNs: PathNodeSet
    startN=self.map.getStartNode();
    endNs=self.map.getEndNodes();
    self.open.add(startN);
    nextN=startN;
    while (
    nextN;)
    {
      adjNs=self.map.getAdjacentNodes(nextN);
      adjNs.asSet().forEach({ (x: PathNode ) 
      self.open.add(x);});
      if (
      endNs.inSet(nextN);)
      {
        return self.makePath(nextN);
      }
      else
      {
        self.closed.add(nextN);
        self.open.subtract(nextN);
        nextN=self.bestNextNode(self.open);
      };
    };
  }
  private PathNodeList makePath(PathNode node);
  private PathNode bestNextNode(PathNodeSet openSet)
  {
  }
}