CS 2420 - Assignment 6 - A Star

So this week we had to create a node graph and write our version of the A* (A Star) algorithm to find the shortest path. Here is the map we were given:

The map is not to scale, here are the coordinates of each node: 

A: -19, 11        B: -13, 13      C: 4, 14          D: -4, 12      E: -8, 3           F: -18, 1
G: -12, -8        H: 12, -9         I: -18, -11       J: -4, -11     K: -12, -14     L: 2, -18
M: 18, -13       N: 4, -9          O: 22, 11        P: 18, 3

I have seen multiple implementations of A* around the web, but they all use a matrix and it can get really complicated really quickly. I like this implementation better because its simple, but it works.

Here is my code:


That's all for now, thanks for reading!