public HierarchicalMap CreateHierarchicalMap(ConcreteMap concreteMap, int clusterSize, int maxLevel) { m_concreteMap = concreteMap; m_clusterSize = clusterSize; m_maxLevel = maxLevel; m_hierarchicalMap = new HierarchicalMap(concreteMap, clusterSize, maxLevel); List <Cluster> clusters = new List <Cluster>(); List <Entrance> entrances = new List <Entrance>(); CreateClustersAndEntrances(clusters, entrances); m_hierarchicalMap.InitClusters(clusters); CreateAbstractNodes(entrances); CreateEdges(clusters, entrances); return(m_hierarchicalMap); }