private GraphEdge[] ParentEdges; // Stores the edge leading to each node. Used for distance and to track parent node connections.
#endregion Fields
#region Constructors
public AStarPlanner(SparseGraph graph)
{
this.Graph = graph;
OpenList = new List<GraphNode>();
ClosedList = new List<GraphNode>();
int allNodesCount = graph.GetAllNodesCount();
FCosts = new double[allNodesCount];
GCosts = new double[allNodesCount];
ParentEdges = new GraphEdge[allNodesCount];
}