//Constructor for when path map is already made public PRMNavigationPlanner(List<PRMAlgorithm> prms, PathMap pm, string cf) { allPRMs = new Dictionary<string, PRMAlgorithm>(); pathDictionary = new Dictionary<Vector2, Node>(); pathMap = pm; pathMapNodes = pm.getNodes(); currentField = cf; //Add all the fields and their prms. foreach (PRMAlgorithm p in prms) { string name = p.PRMmap.name; allPRMs.Add(name, p); } }