public void startTraverse(int startXt, int startYt, int endXt, int endYt)
{
steps = 0;
startX = startXt;
startY = startYt;
targetX = endXt;
targetY = endYt;
positionX = startX;
positionY = startY;
map = new VehicleHazardMap(width, height);
map.setHazardMap(startX, startY);
atTarget = false;
pathBitmap = new Bitmap(map.getWidth(), map.getHeight());
}
