export declare class MinHeap<Item> {
    private _getValue;
    private readonly _heapArray;
    private readonly _itemToIndex;
    constructor(_getValue: (item: Item) => number);
    upsert(item: Item): void;
    contains(item: Item): boolean;
    insert(item: Item): void;
    removeMinimum(): Item | undefined;
    private _swapIndexes;
    /** Recursively ensures the item at the given index is less than its children. */
    private _heapifyDownFromIndex;
}
export declare function aStar<Node>({ start, goal, estimateFromNodeToGoal, neighborsAdjacentToNode, actualCostToMove: costToMove, }: {
    start: Node;
    goal: Node;
    /** Provide an estimate from the given node to the goal. */
    estimateFromNodeToGoal: (node: Node) => number;
    neighborsAdjacentToNode: (node: Node) => Node[];
    actualCostToMove: (
    /** A map from a node to the node before it in the path. This can be used to provide cost based on the shape of paths. */
    cameFromMap: Map<Node, Node>, 
    /** We are moving from this node. */
    from: Node, 
    /** To this node. */
    to: Node) => number;
}): Node[] | undefined;