public ActiveDetour()
{
hexMap = new HexPixelMap(mapWidth, mapHeight);
urgLRF = new URG_LRF();
//LRF_IPConnectFlg = urgLRF.IpOpen();
urgLRF.LogFileOpen(Path.GetDirectoryName( Application.ExecutablePath)+"\\urgLog20150815.txt",1);
}
public ANodeMgr(HexPixelMap layer, int xgoal, int ygoal, bool allowdiag = true)
{
_layer = layer;
_allowdiag = allowdiag;
_openList = new List<ANode>();
_pool = new Dictionary<int, ANode>();
_xgoal = xgoal;
_ygoal = ygoal;
}