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; }