Add weights to nodes to influence search paths

README.md

@@ -60,13 +60,13 @@ Basic Usage
 To build a grid-map of width 5 and height 3:
 
 ```javascript
-var grid = new PF.Grid(5, 3); 
+var grid = new PF.Grid(5, 3);
 ```
 
 By default, all the nodes in the grid will be able to be walked through.
 To set whether a node at a given coordinate is walkable or not, use the `setWalkableAt` method.
 
-For example, to set the node at (0, 1) to be un-walkable, where 0 is the x coordinate (from left to right), and 
+For example, to set the node at (0, 1) to be un-walkable, where 0 is the x coordinate (from left to right), and
 1 is the y coordinate (from up to down):
 
 ```javascript
@@ -205,6 +205,19 @@ you may use `PF.Util.expandPath`.
 var newPath = PF.Util.expandPath(path);
 ```
 
+There is an optional weight that can be assigned to each node in the grid. This
+functions as a multiplier to the next g value calculated for each neighbor.  By
+setting the weight for a given node higher than 1 you make it less likely that
+the finder will examine that node.  By setting the weight lower than 1 you make
+it more likely the finder will examine that node.  The default value is 1 which will not impact the next g calculation at all.
+
+There are two calls, a getter and a setter to examine or set the weight for a given node.
+These are accessed via the grid object.
+
+```javascript
+var w = grid.getWeightAt(x,y); // returns the current weight value for the node at x,y
+grid.setWeightAt(x,y, weight); // sets the weight for the node at x,y
+```
 
 Development
 ------------
@@ -219,9 +232,9 @@ Layout:
 	|-- benchmark    # benchmarks
     `-- visual       # visualization
 
-Make sure you have `node.js` installed, then use `npm` to install the dependencies: 
+Make sure you have `node.js` installed, then use `npm` to install the dependencies:
 
-    npm install -d 
+    npm install -d
 
 The build system uses gulp, so make sure you have it installed:
 

docs/contributor-guide/authors.md

@@ -5,6 +5,7 @@ This is the alphabetically sorted list of contributors to PathFinding.js:
 Anders Riutta <https://github.com/ariutta><br>
 Chris Khoo <https://github.com/chriskck><br>
 Gerjo <https://github.com/Gerjo><br>
+James Brown <https://github.com/jbrown123><br>
 Juan Pablo Canepa <https://github.com/jpcanepa><br>
 Mat Gadd <https://github.com/Drarok><br>
 Murilo Pereira <https://github.com/mpereira><br>

docs/user-guide/diagonal-movement.md

@@ -12,7 +12,7 @@ var finder = new PF.AStarFinder({
 
 See that the path is straight now:
 
-![Screenshot](user-guide/images/DiagonalMovementDisabled.png)
+![Screenshot](images/DiagonalMovementDisabled.png)
 
 The `diagonalMovement` option can take any of the following values:
 
@@ -25,28 +25,28 @@ To understand them consider the following four simple maps labelled A, B, C and
 D. A has no obstacles for diagonal movement from green to orange cell, B and C
 have one obstacle and D has two obstacles.
 
-![Screenshot](user-guide/images/DiagonalMaps.png)
+![Screenshot](images/DiagonalMaps.png)
 
 ## Always
 With this option PathFinding.js will always find a diagonal path, irrespective
 of the obstacles when moving diagonally.
 
-![Screenshot](user-guide/images/AllMapsWithAPath.png)
+![Screenshot](images/AllMapsWithAPath.png)
 
 ## Never
 With this option PathFinding.js will only find straight paths and will never
 find any diagonal paths.
 
-![Screenshot](user-guide/images/AllMapsWithStraightPaths.png)
+![Screenshot](images/AllMapsWithStraightPaths.png)
 
 ## IfAtMostOneObstacle
 With this option PathFinding.js will find diagonal paths only if there is at
 most one obstacle for the diagonal path.
 
-![Screenshot](user-guide/images/DiagonalPathsForAtMostOneObstacle.png)
+![Screenshot](images/DiagonalPathsForAtMostOneObstacle.png)
 
 ## OnlyWhenNoObstacles
 With this option PathFinding.js will find diagonal paths only if there are no
 obstacles for the diagonal path.
 
-![Screenshot](user-guide/images/DiagonalPathsForOnlyWhenNoObstacles.png)
+![Screenshot](images/DiagonalPathsForOnlyWhenNoObstacles.png)

docs/user-guide/getting-started.md

@@ -23,7 +23,7 @@ var grid = new PF.Grid(5, 7);
 ```
 This will create a grid which is walkable all over.
 
-![Screenshot](user-guide/images/5x7EmptyGrid.png)
+![Screenshot](images/5x7EmptyGrid.png)
 
 In this grid, the green cell at the top left is [0, 0] and the orange cell at
 the bottom right is [4, 6].
@@ -49,4 +49,4 @@ This will return the following path:
 
 Which when plotted on the grid looks like:
 
-![Screenshot](user-guide/images/5x7GridWithPath.png)
+![Screenshot](images/5x7GridWithPath.png)

docs/user-guide/obstacles.md

@@ -26,7 +26,7 @@ grid.setWalkableAt(2, 1, false);
 
 After setting the obstacles the grid should look like this.
 
-![Screenshot](user-guide/images/5x7GridWithObstacles.png)
+![Screenshot](images/5x7GridWithObstacles.png)
 
 Let us find a path now.
 
@@ -37,7 +37,7 @@ var path = finder.findPath(0, 0, 4, 6, grid);
 
 PathFinding.js will find the following path:
 
-![Screenshot](user-guide/images/5x7GridWithObstaclesAndPath.png)
+![Screenshot](images/5x7GridWithObstaclesAndPath.png)
 
 Notice how the path moves diagonally where it can, thus making it shorter. This
 may not be always desirable and you may want to create a path without any