public void generatePath(int startX, int startY, int targetX, int targetY)
 {
     if ((startX + startY + targetX + targetY) == 0)
     {
         pathfinder = new Pathfinder(hazardModel.getHazardModel() , hazardModel.hazardModelImage, 0, 0, r.Next(hazardModel.getHazardModel().GetLength(0)), r.Next(hazardModel.getHazardModel().GetLength(1)));
     }
     else
     {
         try
         {
             pathfinder = new Pathfinder(hazardModel.getHazardModel(), hazardModel.hazardModelImage, startX, startY, targetX, targetY);
         }
         catch (Exception) { }
     }
 }
        public void startSimulationKnownMap(int startX, int startY, int endX, int endY)
        {
            Pathfinder pathfinder = new Pathfinder(hazardModel.getHazardModel() , hazardModel.hazardModelImage, startX, startY, endX, endY);

            System.Diagnostics.Stopwatch sw = System.Diagnostics.Stopwatch.StartNew();

            pathfinder.findPath(startX, startY, endX, endY);

            sw.Stop();

            pathfinder.generatePathImage();
            steps = pathfinder.getPath().Count;
            imageSource = pathfinder.getPathImage();

            timeTaken = sw.Elapsed.TotalSeconds + " Seconds";

            stepTraverseStarted = false;
        }