private ArrayList<Node> createPath(int x2, int y2,Map map, Dot vacum) {
		
		System.out.println("path making started");
		ArrayList<Node> node = new ArrayList<Node>();
		ArrayList<Point> points=new ArrayList<Point>();
		node.add(new Node(x,y,0,0));
		points.add(new Point((int)x,(int)y));
		for(Obj o: Map.knownObjects)
			points.addAll(o.getPoints());
		points.add(new Point(x2,y2));
		
		int [][] array=new int[points.size()][points.size()];
		fixVacumPosition(vacum,map,x2,y2);
		if(see(points.get(0),points.get(points.size()-1),map))
		{
			System.out.println("no pathfinder needed here");
			node.add(new Node((int)x2,(int)y2,0,0));
			return node;
		}
		System.out.println("creating matrix");
		for(int j=0; j<points.size(); j++)
		{
			if(see(points.get(0),points.get(j),map)){
				array[0][j]=distance(points.get(0),points.get(j));
			}
			array[j][0]=array[0][j];
			
		}
		
		int size=points.size();
		
		for(int i=1; i<points.size(); i++)
			for(int j=i; j<points.size(); j++)
			{
				if(see(points.get(i),points.get(j),map)){
					array[i][j]=distance(points.get(i),points.get(j));
				}
				array[j][i]=array[i][j];
				
			}
		System.out.println("matrix made succesfully");
		return getPath(array,points,x2,y2);
	}