/// <summary>
/// Plan between two nodes
/// </summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <param name="nodes"></param>
/// <param name="time"></param>
public void Plan(INavigableNode start, INavigableNode goal, out List <INavigableNode> nodes, out double time)
{
aStar astar = new aStar(start, goal, new List <NavigableEdge>());
nodes = astar.Plan();
time = astar.TotalTime;
}
/// <summary>
/// Plan between two nodes
/// </summary>
/// <param name="start"></param>
/// <param name="goal"></param>
/// <param name="nodes"></param>
/// <param name="time"></param>
public void Plan(INavigableNode start, INavigableNode goal, out List<INavigableNode> nodes, out double time)
{
aStar astar = new aStar(start, goal, new List<NavigableEdge>());
nodes = astar.Plan();
time = astar.TotalTime;
}