x1 = a.x

y1 = a.y

x2 = b.x

y2 = b.y

my_heap = PriorityQueue() #not really a heap just easier to call it that than queue

my_heap.push(start, 0)

pathway = []

cost_so_far = {}

came_from = {}

cost_so_far[start] = 0

came_from[start] = None

the_sum = 0

ordered_goals = []

while not my_heap.empty():

current = my_heap.pop()

#print("here")

if current in goals:

ordered_goals.append(current)

goals.remove(current)

for i in graph:

if i.parent:

the_sum += 1

while current.parent:

pathway.append(current)

x = current.parent

current.parent = None

current = x

if len(goals) == 0:

break

for i in current.edges:

new_score = current.gscore + 1 #increment g(n)

if i not in cost_so_far or new_score < i.gscore:

cost_so_far[i] = new_score

i.gscore = new_score

i.hscore = findMST(i,goals)

#print(i.hscore, current)

i.fscore = i.gscore + i.hscore

my_heap.push(i, i.fscore)

if not i.parent:

i.parent = current