Bug Fix

[semenshestakov]

Problem

I noticed that on large graphs, where there are no obstacles, the algorithm checks many more points than necessary

Source

calculate Heuristic was considered relative to the indexes, and "g" relative to the length (int), which for HV = 10 (1.0), and for the diagonal 14 (square(2.0))

fix

in calculateHeuristic:
...
this.h *= 10

Сurrent version: We explore too many routes

with correction N1:

with correction N2:

[semenshestakov]

fix_problem.patch