public Node getCheapestSuccessor(ArrayList<Node> succ, Boolean tiebreak) {
int cheapest_cost = 99999;
Node cheapest = null;
for (Node s : succ) {
if (s.getCost() < cheapest_cost) {
cheapest_cost = s.getCost();
cheapest = s;
} else if ((s.getCost() == cheapest_cost) && (tiebreak)) {
// Tie breaker
cheapest = PathPlanner.tiebreaker(s, cheapest);
cheapest_cost = cheapest.getCost();
}
}
return cheapest;
}
