class breadthFirst{

    public:
        breadthFirst();
        //~breadthFirst();
        std::vector<std::vector<int> > findPath(searchTreeNode *startNode);   // run repeatedly to find path
        void runQueue();	// runs the next point in the queue
        void start(int x,int y);  // used to start the search from point x,y
        map theMap;		// this is where the map data is stored access by mybreadthFirst.map.someMemberFunction();
        std::vector<std::vector<int> > goHome(searchTreeNode *node);  // after the location is found we can follow the parent node tree to the start location and retrieve our path
        std::vector<std::vector<int> > path;  // where we actually store the path
        float getMapScale();	//  gets the scale of the map
        void setMapScale(float s);
        map::gridPoint * debug;
        
    private:
      std::vector<searchTreeNode *> queue;
      bool checkPoint(int x,int y);
      searchTreeNode *goalNode;
      bool goalFound;
};