}
closedlist.add(currentWP);
// Expand Node
Vector2f currentpoint = currentWP.getVector2f();
newWaypoints = new Vector<Waypoint>(8);
//8er Nachbarschaft hinzufuegen
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y()-1 ), Math.sqrt(2) ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y() ), 1 ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()-1 , currentpoint.y()+1 ), Math.sqrt(2) ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x() , currentpoint.y()-1 ), 1 ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x() , currentpoint.y()+1 ), 1 ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y()-1 ), Math.sqrt(2) ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y() ), 1 ,currentWP));
newWaypoints.add(new Waypoint(new Vector2f(currentpoint.x()+1 , currentpoint.y()+1 ), Math.sqrt(2) ,currentWP));
//System.err.println("Alle punkte zum vektor hinzugefuegt");
for(Waypoint wp : newWaypoints)
{