def __init__(self, maze: Maze, hand: Hand):
position = path.Node(maze.start)
direction = Direction.EAST
turn_prio = [hand, lambda d: d, Hand.opposite(hand), turn_back]
while position.val != maze.end:
candidates = [turn(direction) for turn in turn_prio]
neighbours = maze.get_accessible_neighbours(position.val)
direction = next(c for c in candidates
if c(position.val) in neighbours)
position = position.create_child(direction(position.val))
self.solution = Solution.from_vertices(list(position.as_path()))
