astar.py

def Run(self):
		self.Reset()
		open = self.OPEN
		closed = self.CLOSED
		start = self._start
		goal = self._goal
		open.append(start)
		print(open)
		while open:						
			open.sort(key = lambda x : x.f)
			current = open[0]
			open.remove(current)			
			closed.append(current)
			i = 0
			for adj in current.adjacents:
				if adj.walkable and adj not in closed:
					if adj not in open:
						open.append(adj)
						adj.parent = current						
						adj.g = 10 if i < 4 else 14
					else:
						move = 10 if i < 4 else 14
						movecost = move + current.g
						if movecost < adj.g: 
							adj.parent = current						
							adj.g = movecost
							
				i+=1
			if goal in open:
				self.PATH = self.GetPath(goal)
				break;