#print "v1: " + str(vertex1) + "v2: " + str(vertex2)
graph.addEdge(vertex1,vertex2, edge=1)
#do the diagonals
vertex2=(((colLength-1)*row)+column)+(colLength)
if(obstacles.count([x,y])==0 and (((colLength-1)*row)+column)<numVertices and edgeCheck.count([vertex2,vertex1])==0 and vertex1%(colLength-1)<(colLength-1) and vertex1%(rowLength-1)<(rowLength-1) and vertex2<numVertices and vertex1%(colLength-1)!=(colLength-2)):
graph.addEdge(vertex1,vertex2, edge=math.sqrt(2))
vertex1=(((colLength-1)*row)+column)
vertex2=(((colLength-1)*row)+column)+(colLength-2)
if((((colLength-1)*row)+column)<numVertices and vertex1%(colLength-1)<(colLength-1) and vertex1%(rowLength-1)<(rowLength-1) and vertex2<numVertices and vertex1%(colLength-1)!=0):
if(not(obstacles.count([(x-1),y])!=0)):
graph.addEdge(vertex1,vertex2, edge=math.sqrt(2))
numEdges=graph.getNumEdges()
print "\nVertices: " + str(graph.getNumVertices())
print "Edges: " + str(graph.getNumEdges())
#-----------------------------------
# Here is where we choose a random start/goal locations. You probably don't need to touch any of this.
if(file_provided==False):
goal=[]
start=[]
#---- Get random start ------------------
while start==[]:
id=int((i*random.random())%i)
vrtx=graph.getVertex(id)
if(len(graph.neighbours(id))>1):
x=vrtx[0]
