public ArrayList<Integer> getTransitionStartToGoal( int startID, int goalID ){
		ArrayList<Integer> transition = new ArrayList<Integer>();
		
		transition.add( goalID );
		while(true){
			int to = transition.get(transition.size()-1);
			int from = getNode(to).getFromID();
			transition.add(from);
			if( from == startID ){
				break;
			}
		}
		Collections.reverse(transition);
		return transition;
	}