Pathfinder: Fix style

Pathfinder: Fix style

* Fix naming style for methods and classes:
	Use camelCase for methods and PascalCase for classes as
	code style demands it. And use sneak_case for methods that
	are not member of a class.
* Replace "* " with " *" for Pointers
* Same for references
* Put function body opening braces on new line
* Other misc minor non functional style improvements