public PathFinder(string fileName)
{
usingFile = true;
validFile = true;
closed = new List<coord>();
try
{
using (StreamReader SR = File.OpenText(fileName))
{
length = Convert.ToInt32(SR.ReadLine());
width = Convert.ToInt32(SR.ReadLine());
metersPerCellX = Convert.ToDouble(SR.ReadLine());
metersPerCellY = Convert.ToDouble(SR.ReadLine());
heap = new minHeap(length, width);
for (int index = 0; index < length * width; index++)
{
heap.coords[index / width][index % length] =
heap.coords[index / width][index % length].setHeight(Convert.ToDouble(SR.ReadLine()));
}
setGrads();
setStartEnd();
SR.Close();
}
}
catch (IOException ex)
{
validFile = false;
Console.WriteLine(ex.Message);
}
}
public PathFinder(int sX, int sY, int eX, int eY, double orientationAngle,bool[,] obstacles)
{
usingFile = true;
validFile = true;
closed = new List<coord>();
length = obstacles.GetLength(0);
width = obstacles.GetLength(1);
metersPerCellX = 0.20;
metersPerCellY = 0.20;
heap = new minHeap(length, width);
for (int x = 0; x < length; x++)
{
for (int y = 0; y < width; y++)
{
if (obstacles[x,y])
heap.coords[x][y] = heap.coords[x][y].setChar('O');
}
}
setStartEnd(sX, sY, eX, eY, orientationAngle);
}
public PathFinder(int x, int y)
{
usingFile = false;
closed = new List<coord>();
length = x; width = y;
metersPerCellX = metersPerCellY = 1;
heap = new minHeap(length, width);
makeGrid();
Console.WriteLine("Made grid");
}
