From cc480168744b66af6fe09dd9189721ccac7c42c0 Mon Sep 17 00:00:00 2001
From: C9Glax <13404778+C9Glax@users.noreply.github.com>
Date: Thu, 17 Nov 2022 20:33:21 +0100
Subject: [PATCH] Removed unreachable state and added check to remove duplicate
 entries in toVisit

---
 astar/Astar.cs | 7 ++-----
 1 file changed, 2 insertions(+), 5 deletions(-)

diff --git a/astar/Astar.cs b/astar/Astar.cs
index 74954a7..926463b 100644
--- a/astar/Astar.cs
+++ b/astar/Astar.cs
@@ -20,10 +20,6 @@ namespace astar
             SetDistanceToGoal(start, Convert.ToSingle(Utils.DistanceBetweenNodes(start, goal)));
             while (toVisit.Count > 0 && GetTimeRequiredToReach(toVisit[0]) < GetTimeRequiredToReach(goal))
             {
-                if(currentNode == goal)
-                {
-                    logger?.Log(LogLevel.INFO, "Way found, checking for shorter option.");
-                }
                 currentNode = toVisit.First();
                 logger?.Log(LogLevel.VERBOSE, "toVisit-length: {0} path-length: {1} goal-distance: {2}", toVisit.Count, timeRequired[currentNode], goalDistance[currentNode]);
                 //Check all neighbors of current node
@@ -34,7 +30,8 @@ namespace astar
                         SetDistanceToGoal(e.neighbor, Convert.ToSingle(Utils.DistanceBetweenNodes(e.neighbor, goal)));
                         SetTimeRequiredToReach(e.neighbor, GetTimeRequiredToReach(currentNode) + e.time);
                         SetPreviousNodeOf(e.neighbor, currentNode);
-                        toVisit.Add(e.neighbor);
+                        if (!toVisit.Contains(e.neighbor))
+                            toVisit.Add(e.neighbor);
                     }
                 }