private void DrawMap() { Debug.Assert(Map != null); MapField.LayoutTransform = new ScaleTransform(Map.CanvasTransform, Map.CanvasTransform); MapField.UpdateLayout(); foreach (Polyline line in Map.Obstacles) { Polyline newLine = new Polyline { Points = TranslateCoordinates(line.Points), Stroke = Brushes.SlateGray, StrokeThickness = StrokeWidth, FillRule = FillRule.EvenOdd }; MapField.Children.Add(newLine); } Polyline goal = new Polyline { Points = TranslateCoordinates(Map.Goal.Points), Stroke = Brushes.Aqua, StrokeThickness = StrokeWidth, FillRule = FillRule.EvenOdd }; MapField.Children.Add(goal); }