public void Asearch(Point startPoint, Point goalPoint){
                String start = startPoint.x + " " + startPoint.y + " " +
                                "0";
                String goal = goalPoint.x + " " + goalPoint.y;
                                
                target = goal;
                openset.add(start);
                openset2.add(process(start));
                parent.add(process(start));
                while(!openset.isEmpty() && !closedset.contains(goal)){
                        current = retMin(openset);
                        openset.remove(current);
                        openset2.remove(process(current));
                        closedset.add(process(current));
                        neighbours = getNeighbours(current, goal);
                        for(int i = 0 ; i<neighbours.size();i++){
                                String s = process(neighbours.get(i));
                                if(!closedset.contains(s)){
                                        if(!openset2.contains(s)){
                                                openset.add(neighbours.get(i));
                                                openset2.add(s);
                                                parent.add(process(current)+ " " +  s);
                                        }
                                        else{
                                                int index= 0;
                                                for(int j = 0;j<openset.size();j++){
                                                        if(openset.get(j).startsWith(s))
                                                                index = j;
                                                }
                                        
                                                if(Integer.parseInt(openset.get(index).split(" ")[2]) > Integer.parseInt(neighbours.get(i).split(" ")[2])){
                                                        openset.remove(index);
                                                        openset.add(neighbours.get(i));
                                                        parent.add(process(current)+ " " + s);
                                                }
                                        }
                                }
                                        
                        }
                }
                
        }