//A* SEARCH FUNCTION
vector<Node> A_Search(MyProblem my_prob, vector<Node> fringe)
{
	Node cur;
	fringe.push_back(my_prob.initial_state);
	while(1)
	{
		if(fringe.empty())
			return my_prob.solution;

		if(fringe.size()==1)
		{
			cur=fringe.at(0);
			visits[cur.state.x-1][cur.state.y-1]=true;
			fringe.clear();
			my_prob.solution.push_back(cur);
		}
		else
		{
			double best=9999.0;
			int index=9999;
			for(unsigned int i=0; i<fringe.size(); ++i)
			{
				if(fringe.at(i).path_cost<best)
				{
					best=fringe.at(i).path_cost;
					index=i;
				}

			}
				cur=fringe.at(index);
				visits[cur.state.x-1][cur.state.y-1]=true;
				my_prob.solution.push_back(cur);
				fringe.clear();
		}

		if(cur.state.x == my_prob.goal_state.state.x && cur.state.y == my_prob.goal_state.state.y)
			return my_prob.solution;

		fringe=Expand(cur,fringe);
	}