/// <summary>
/// Use for a 'step by step' search only. This method is alternate to SearchPath.
/// Initializes AStar before performing search steps manually with NextStep.
/// </summary>
/// <exception cref="ArgumentNullException">StartNode and EndNode cannot be null.</exception>
/// <param name="StartNode">The node from which the path must start.</param>
/// <param name="EndNode">The node to which the path must end.</param>
public void Initialize(SimWaypoint StartNode, SimWaypoint EndNode)
{
if (StartNode == null || EndNode == null)
{
throw new ArgumentNullException();
}
_Closed.Clear();
_Open.Clear();
Track.Target = EndNode;
_Open.Add(new Track(StartNode));
_NbIterations = 0;
_LeafToGoBackUp = null;
}
