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  #ifndef GRAS_ASTAR_H
  #define GRAS_ASTAR_H
  
  #include "ExplorationStrategy.h"
  #include "SearchNode.h"  // \todo: Should be removed (only exists because of vec2Str()
  
  namespace Gras
  {
  
  class Astar
  {
  public:
  
    /*! \ingroup Gras
     *  \brief A* search algorithm to find the optimal path in a graph.
     *
     *  \param[in] expl       Exploration strategy class
     *  \param[in] start      State vector comprising starting state
     *  \return Solution path from start state to goal. States are stored in the
     *          rows of the solution path.
     */
    static std::vector<std::vector<int> > search(const ExplorationStrategy& expl,
                                                 std::vector<int> start);
  
  
    static void printSolution(const ExplorationStrategy& explorer,
                              const std::vector<std::vector<int> >& solutionPath);
  };
  
  }
  
  #endif // GRAS_ASTAR_H
  