map.addBidirectionalLink("b", "d", 2.0);
map.addBidirectionalLink("c", "d", 4.0);
map.addBidirectionalLink("c", "e", 1.0);
map.addBidirectionalLink("d", "goal", 1.0);
map.addBidirectionalLink("e", "goal", 5.0);
Problem problem = new Problem("start",
MapFunctionFactory.getActionsFunction(map),
MapFunctionFactory.getResultFunction(), new DefaultGoalTest(
"goal"), new MapStepCostFunction(map));
HeuristicFunction hf = new HeuristicFunction() {