r>
      </table>
</div><div class="memdoc">

<p>2D graph search constructor </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">cMap</td><td>1D array stores the occupancy, with the order equal to <img class="formulaInl" alt="$x + xDim * y$" src="form_0.png"/> </td></tr>
    <tr><td class="paramname">xDim</td><td>map length </td></tr>
    <tr><td class="paramname">yDim</td><td>map width </td></tr>
    <tr><td class="paramname">eps</td><td>weight of heuristi