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struct LessNode{
    bool operator()(std::shared_ptr<Node> const & ln, std::shared_ptr<Node> const & rn) const {
        if (ln->get_totalcost() < rn->get_totalcost())
            return true;
        else if (ln->get_totalcost() > rn->get_totalcost())
            return false;

        return ln.get() < rn.get();
    }
};