/** * Initialise the A Star machine to run a search * @param the Goal we are searching towards * @param the Storage which will store the open and closed lists * @param the map which will get the neighbours, heuristic/action costs for the search */ public void Setup(AStarGoal _goal, AStarStorage _storage, AStarMap _aStarMap) { Goal = _goal; Storage = _storage; Map = _aStarMap; Storage.ResetStorage(Map); }
/** * Cleanup */ public void Cleanup() { Goal = null; Map = null; Storage = null; CurrentNode = null; Start = 0; End = 0; }