public void planRoute()
{
MapperVicinity mv = mapperViewControl1.CurrentMapper;
RoutePlanner routePlanner = mapperViewControl1.CurrentRoutePlanner;
RoutePlan plan = routePlanner.planRoute();
bestHeadingLabel.Content = "Best Heading abs=" + (plan.bestHeading.HasValue ? Math.Round((double)plan.bestHeading).ToString() : "N/A") + " rel (turn)=" + (plan.bestHeading.HasValue ? Math.Round((double)plan.bestHeading).ToString() : "N/A");
closestObstacleLabel.Content = "ClosestObstacle at " + (plan.closestObstacleMeters.HasValue ? (Math.Round((double)plan.closestObstacleMeters, 2).ToString() + " m") : "N/A");
legLengthLabel.Content = "Leg Length = " + (plan.legMeters.HasValue ? (Math.Round((double)plan.legMeters, 2).ToString() + " m") : "N/A (turn only)");
timeSpentLabel.Content = plan.timeSpentPlanning.ToString();
mapperViewControl1.RedrawMap();
}