/// <summary>Get cost of moving to this node from the supplied other node</summary>
/// <typeparam name="T">Content type of other node, must derive from IMapNode</typeparam>
/// <param name="from">Other node to move from</param>
/// <returns>Total cost of movement, or +Infinity on invalid move</returns>
public double CalcMoveCost <T>(PFState <T> from)
where T : class, IMapNode, new()
{
if (!from.Visited)
{
return(double.PositiveInfinity);
}
MapDirection dir = DirectionFrom(from);
double mult = dir.IsOrthogonal() ? 1 : 1.5;
return(from.TotalCost + MoveCost * mult);
}