aStar.js

function AStar(v1, v2){
	function route(v1, v2){
	    if (parents[v2] != 'NONE'){
	        route(v1, parents[v2])
	    }
		path.push(v2)
	}
    parents = {}
    searched = []
    fcost = {}
    queue = {}

    parents[v1] = "NONE"
    gcost[v1] = 0
    fcost[v1] = h(v1)
    queue[v1] = fcost[v1]

    while (queue.length != 0){
        x = sortProperties(queue);
        node = x[0][0];
        delete queue[node];
        searched.push(node);
        if (node == v2){
            try{
                print("found");
                route(v1, v2);
        	}
            catch{
                print('No path exists');
            }
            return 0;
        }
        hash_ = generatechild(node);
        for(let[n, c] of Object.entries(hash_)){
            if (c + gcost[node] < gcost[n]){
            	if (searched.includes(n)){
            		continue;
                    }
            	else{
                gcost[n] = c + gcost[node];
                fcost[n] = (gcost[n] + h(n));
                parents[n] = node;
                if (!queue.hasOwnProperty(n)){
                    queue[n] = fcost[n];
		    }
                }
            }
        }
    }
    print('NO path Found')
}