Initial commit, with start of a star
Fixed removal of already traveled nodes
Added wall check
further expanded expand
Added frontier
Removed old koth code
changed logic to use nodes, not states
Fixed not moving for clean spots, calc clean spots
Fixed typo
Fixed cost not including previous node's cost
Added visited nodes to node
Basically fixed everything for cleaning one spot
Added start of logic to clean all dirty spots
Fixed cleaning all spaces
Added ui support
Reordered variables