source: lost-perception/astar/AStarNode.java

package astar;

import java.awt.Point;
import java.util.LinkedList;

public class AStarNode implements Comparable<AStarNode>
{
    public boolean passable;
    private QuadTree parent;
    public LinkedList<AStarNode> neighbors;
    public int G;
    public int H;
    public AStarNode prev;
    public int curList;
    public int openListPos;
    
    public AStarNode(final QuadTree parent) {
        this.passable = true;
        this.parent = parent;
        this.G = -1;
        this.H = -1;
        this.curList = 0;
    }
    
    public QuadTree getParent() {
        return this.parent;
    }
    
    public int getF() {
        return this.G + this.H;
    }
    
    public Point getMidpoint() {
        return new Point(this.parent.getX() + this.parent.getWidth() / 2, this.parent.getY() + this.parent.getHeight() / 2);
    }
    
    @Override
    public int compareTo(final AStarNode o) {
        return this.getF() - o.getF();
    }
}