/// <summary>
/// Creates a clear map with a start and end point and sets up the search parameters
/// </summary>
private void InitializeMap(int[,] iMap, Point S, Point F)
{
this.map = IntToBool(iMap);
//var tmp = BoolToString(map);
//var tmp1 = ParseIntArrayToString(iMap);
this.sp = new SearchParameters(S, F, map);
}
/// <summary>
/// Create a new instance of PathFinder
/// </summary>
/// <param name="searchParameters"></param>
public PathFinder(SearchParameters searchParameters)
{
this.searchParameters = searchParameters;
InitializeNodes(searchParameters.Map);
this.startNode = this.nodes[searchParameters.StartLocation.X, searchParameters.StartLocation.Y];
this.startNode.State = NodeState.Open;
this.endNode = this.nodes[searchParameters.EndLocation.X, searchParameters.EndLocation.Y];
}