diff --git a/Pathfinding/Pathfinder.cs b/Pathfinding/Pathfinder.cs
index 4511e50..d58efea 100644
--- a/Pathfinding/Pathfinder.cs
+++ b/Pathfinding/Pathfinder.cs
@@ -6,7 +6,6 @@ using WayType = OSMDatastructure.Tag.WayType;
 
 namespace Pathfinding;
 
-//TODO check parameters for all functions and determine global fields
 public class Pathfinder
 {
 
@@ -14,6 +13,8 @@ public class Pathfinder
     public readonly string workingDir;
     public PathResult? pathResult;
     public Dictionary<OsmNode, double>? gScore;
+    private Dictionary<OsmNode, OsmNode>? cameFromDict;
+    private SpeedType _speedType;
 
     public Pathfinder(string workingDirectory)
     {
@@ -29,8 +30,9 @@ public class Pathfinder
     {
         DateTime startCalc = DateTime.Now;
         regionManager = new RegionManager(workingDir);
-        OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, vehicle);
-        OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, vehicle);
+        _speedType = vehicle;
+        OsmNode? startNode = regionManager.ClosestNodeToCoordinates(startCoordinates, _speedType);
+        OsmNode? goalNode = regionManager.ClosestNodeToCoordinates(goalCoordinates, _speedType);
         if (startNode is null || goalNode is null)
         {
             pathResult = new(DateTime.Now - startCalc, new List<PathNode>());
@@ -39,8 +41,8 @@ public class Pathfinder
 
         PriorityQueue<OsmNode, double> openSetfScore = new();
         openSetfScore.Enqueue(startNode, 0);
-        Dictionary<OsmNode, OsmNode> cameFromDict = new();
         gScore = new() { { startNode, 0 } };
+        cameFromDict = new();
 
         while (openSetfScore.Count > 0)
         {
@@ -48,7 +50,7 @@ public class Pathfinder
             if (currentNode.Equals(goalNode))
             {
                 Console.WriteLine("Path found.");
-                this.pathResult = GetPath(cameFromDict, goalNode, DateTime.Now - startCalc);
+                this.pathResult = GetPath(goalNode, DateTime.Now - startCalc);
                 return this;
             }
 
@@ -58,14 +60,14 @@ public class Pathfinder
                 if (neighbor is not null)
                 {
                     double tentativeGScore =
-                        gScore[currentNode] + Weight(currentNode, neighbor, edge, vehicle);
+                        gScore[currentNode] + Weight(currentNode, neighbor, edge);
                     gScore.TryAdd(neighbor, double.MaxValue);
                     if (tentativeGScore < gScore[neighbor])
                     {
                         if(!cameFromDict.TryAdd(neighbor, currentNode))
                             cameFromDict[neighbor] = currentNode;
                         gScore[neighbor] = tentativeGScore;
-                        double h = Heuristic(currentNode, neighbor, goalNode, edge, vehicle,
+                        double h = Heuristic(currentNode, neighbor, goalNode, edge,
                             heuristicRoadLevelPriority, heuristicFewJunctionsPriority, heuristicSameRoadPriority);
                         //Console.WriteLine($"Queue: {openSetfScore.Count:00000} Current Distance: {Utils.DistanceBetween(currentNode, goalNode):000000.00} Visited: {cameFromDict.Count:00000} Current heuristic: {h:00000.00}");
                         openSetfScore.Enqueue(neighbor, tentativeGScore + h);
@@ -86,11 +88,11 @@ public class Pathfinder
         Console.WriteLine($"Saved result to {path}");
     }
 
-    private PathResult GetPath(Dictionary<OsmNode, OsmNode> cameFromDict, OsmNode goalNode, TimeSpan calcFinished)
+    private PathResult GetPath(OsmNode goalNode, TimeSpan calcFinished)
     {
         List<PathNode> path = new();
         OsmNode currentNode = goalNode;
-        while (cameFromDict.ContainsKey(cameFromDict[currentNode]))
+        while (cameFromDict!.ContainsKey(cameFromDict[currentNode]))
         {
             OsmEdge? currentEdge = cameFromDict[currentNode].edges.First(edge => edge.neighborId == currentNode.nodeId);
             HashSet<Tag>? tags =
@@ -106,17 +108,17 @@ public class Pathfinder
         return new PathResult(calcFinished, path);
     }
 
-    private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge, SpeedType vehicle)
+    private double Weight(OsmNode fromNode, OsmNode neighborNode, OsmEdge edge)
     {
         double distance = Utils.DistanceBetween(fromNode, neighborNode);
-        double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, vehicle);
+        double speed = regionManager.GetSpeedForEdge(fromNode, edge.wayId, _speedType);
         //double prio = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!);
         return distance / speed;
     }
 
-    private double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, SpeedType vehicle, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
+    private double Heuristic(OsmNode fromNode, OsmNode neighborNode, OsmNode goalNode, OsmEdge edge, double roadPriorityFactor, double junctionFactor, double sameRoadFactor)
     {
-        double roadPriority = GetPriorityVehicleRoad(edge, vehicle, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor;
+        double roadPriority = GetPriorityVehicleRoad(edge, regionManager.GetRegion(fromNode.coordinates)!) * roadPriorityFactor;
         
         TagManager curTags = regionManager.GetRegion(fromNode.coordinates)!.tagManager;
         TagManager nextTags = regionManager.GetRegion(neighborNode.coordinates)!.tagManager;
@@ -140,14 +142,14 @@ public class Pathfinder
         return Utils.DistanceBetween(neighborNode, goalNode) / (1 + roadPriority + sameRoadName + junctionCount);
     }
     
-    private static double GetPriorityVehicleRoad(OsmEdge edge, SpeedType vehicle, Region region)
+    private double GetPriorityVehicleRoad(OsmEdge edge, Region region)
     {
-        if (vehicle == SpeedType.any)
+        if (_speedType == SpeedType.any)
             return 1;
         WayType? wayType = (WayType?)region.tagManager.GetTag(edge.wayId, TagType.highway);
         if(wayType is null)
             return 0;
-        if (vehicle == SpeedType.car)
+        if (_speedType == SpeedType.car)
         {
             switch (wayType)
             {
@@ -175,7 +177,7 @@ public class Pathfinder
                     return 0.0001;
             }
         }
-        if (vehicle == SpeedType.pedestrian)
+        if (_speedType == SpeedType.pedestrian)
         {
             switch (wayType)
             {