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 - **`AStar::new(nodes: HashMap<(usize, usize), Node>) -> AStar`**: Creates a new A\* algorithm instance using the provided node map. This initializes the pathfinding algorithm and prepares it to find the shortest path between nodes.
 
-- **`Node::grid_to_nodes(grid: &Vec<Vec<u8>>) -> HashMap<(usize, usize), Node>`**: Converts a 2D grid (with open cells and blocked cells) into a `HashMap` of `Node` objects. Each cell in the grid is represented as a `Node`, allowing for pathfinding operations to be performed.
+- **`AStar::find_shortest_path(start: (usize, usize), goal: (usize, usize)) -> Result<Option<Vec<(usize, usize)>>, AStarError>`**: Finds the shortest path between the specified start and goal positions. Returns a vector of cells representing the path if successful, or an error if the pathfinding fails.
 
-- **`find_shortest_path(start: (usize, usize), goal: (usize, usize)) -> Result<Vec<(usize, usize)>, AStarError>`**: Finds the shortest path between the specified start and goal positions. Returns a vector of cells representing the path if successful, or an error if the pathfinding fails.
+- **`Node::grid_to_nodes(grid: &[Vec<i32>]) -> HashMap<(usize, usize), Node>`**: Converts a 2D grid (with open cells and blocked cells) into a `HashMap` of `Node` objects. Each cell in the grid is represented as a `Node`, allowing for pathfinding operations to be performed.
 
-- **`print_grid(grid: &Vec<Vec<u8>>, path: &Vec<(usize, usize)>)`**: Prints a visual representation of the grid with the given path highlighted. This function helps to visualize the pathfinding result on the grid.
+- **`Node::print_grid(grid: &[Vec<i32>], path: &Option<Vec<(usize, usize)>>)`**: Prints a visual representation of the grid with the given path highlighted. This function helps to visualize the pathfinding result on the grid.
 
-- **`remove_neighbor(Direction)`**: Removes a neighbor in the specified direction (e.g., North, South, East, West, etc.) from a node. This is used to restrict movement options in that direction.
+- **`Node::remove_neighbor(Direction)`**: Removes a neighbor in the specified direction (e.g., North, South, East, West, etc.) from a node. This is used to restrict movement options in that direction.
 
-- **`set_neighbor(Direction, Option<(usize, usize)>)`**: Sets a neighbor for a node in the specified direction. The neighbor is indicated by its position `(x, y)`.
+- **`Node::set_neighbor(Direction, Option<(usize, usize)>)`**: Sets a neighbor for a node in the specified direction. The neighbor is indicated by its position `(x, y)`.
 
-- **`get_directions()`**: Returns a list of directions that are currently available from the node. This is useful for debugging or visualizing the movement options for a node.
+- **`Node::get_directions()`**: Returns a list of directions that are currently available from the node. This is useful for debugging or visualizing the movement options for a node.
 
-- **`set_blocked(bool)`**: Marks the node as blocked or unblocked. A blocked node will not be considered in pathfinding calculations, effectively acting as an obstacle.
+- **`Node::set_blocked(bool)`**: Marks the node as blocked or unblocked. A blocked node will not be considered in pathfinding calculations, effectively acting as an obstacle.
 
 ### Basic Example