Initialized the A star and got the heuristic to work.  Also able to get the list of legal actions. Next thing to do is work on the fringe.
Built the path, and genrated successors
almost working closedList
Added a successor function
Able to reach goal location with correct path, but agent will not move the path assigned... So I am writing an Astar function to call instead of doing the pathfinding inside the MAPFinder function
A star worksgit add .
Added pathfinding for all 3 agents