}
visitedStates.clear();
String[] locs = new String[marks.size()];
for (int i = 0; i < marks.size(); i++) {
MapNode node = marks.get(i);
Point2D pt = new Point2D(node.getLon(), node.getLat());
locs[i] = map.getNearestLocation(pt);
}
heuristic.adaptToGoal(locs[1], map);
Agent agent = null;
MapAgentFrame.SelectionState state = frame.getSelection();