added cost member for node to use for weighted cost evalulation

jumper/core/node.lua

@@ -25,8 +25,8 @@ if (...) then
   -- @tparam int y the y-coordinate of the node on the collision map
   -- @treturn node a new `node`
 	-- @usage local node = Node(3,4)
-  function Node:new(x,y)
-    return setmetatable({_x = x, _y = y, _clearance = {}}, Node)
+  function Node:new(x,y,c)
+    return setmetatable({_x = x, _y = y, _c=c,_clearance = {}}, Node)
   end
 
   -- Enables the use of operator '<' to compare nodes.
@@ -45,6 +45,8 @@ if (...) then
 	-- @usage local y = node:getY()		
 	function Node:getY() return self._y end
 
+	function Node:getCost() return self._c end
+
   --- Returns x and y coordinates of a `node`
   -- @class function
   -- @treturn number the x-coordinate of the `node`

jumper/core/utils.lua

@@ -75,7 +75,7 @@ if (...) then
         for x in pairs(map[y]) do
           min_x = not min_x and x or (x<min_x and x or min_x)
           max_x = not max_x and x or (x>max_x and x or max_x)
-          nodes[y][x] = Node:new(x,y)
+          nodes[y][x] = Node:new(x,y,map[y][x])
         end
       end
     return nodes,

jumper/pathfinder.lua

@@ -247,6 +247,12 @@ if (...) then
     return self
   end
 
+  function Pathfinder:setCostEval(costEval)
+    assert((type(costEval) == 'function'),'Not a valid heuristic!')
+    self._costEval = costEval
+    return self
+  end
+
   --- Returns the `heuristic` used. Returns the function itself.
   -- @class function
   -- @treturn func the `heuristic` function being used by the `pathfinder`

jumper/search/astar.lua

@@ -15,7 +15,7 @@ if (...) then
 
 	-- Updates G-cost
 	local function computeCost(node, neighbour, finder, clearance)
-		local mCost = Heuristics.EUCLIDIAN(neighbour, node)
+		local mCost = neighbour._c--Heuristics.EUCLIDIAN(neighbour, node)
 		if node._g + mCost < neighbour._g then
 			neighbour._parent = node
 			neighbour._g = node._g + mCost