A* Algorithm

By Joel Goodman, 2017

This is commented very aggressively for the benefit of new python programmers and those new to pathfinding algorithms. Others in the class I wrote this algorithm for found these comments very useful, and I hope you do as well.

Valuable resources I used while writing this:

• http://mat.uab.cat/~alseda/MasterOpt/AStar-Algorithm.pdf
• http://code.activestate.com/recipes/578919-python-a-pathfinding-with-binary-heap/
• http://theory.stanford.edu/~amitp/GameProgramming/AStarComparison.html