def __init__(self, start: TPosition, goal: TPosition):
        self.start = Node(start[1], start[0], goal[1], goal[0], 0, None)
        self.target = Node(goal[1], goal[0], goal[1], goal[0], 99999, None)

        self.open_nodes = [self.start]
        self.closed_nodes: list[Node] = []

        self.reached = False