From 27e9f9d63aae7c3229ab2877bf538c24c8cd3220 Mon Sep 17 00:00:00 2001
From: zwarenelle <tomie121@gmail.com>
Date: Mon, 24 Jun 2024 21:09:18 +0200
Subject: [PATCH] update GetNeighbors

---
 src/CoveragePathPlanner/CoveragePathPlanner.cs | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/CoveragePathPlanner/CoveragePathPlanner.cs b/src/CoveragePathPlanner/CoveragePathPlanner.cs
index 1054677..7305dd9 100644
--- a/src/CoveragePathPlanner/CoveragePathPlanner.cs
+++ b/src/CoveragePathPlanner/CoveragePathPlanner.cs
@@ -144,9 +144,13 @@ public class Cell
         int neighborX = X + x;
         int neighborY = Y + y;
 
-        if (neighborX >= 0 && neighborX < cells.Count / cells[0].Y && neighborY >= 0 && neighborY < cells[0].Y)
+        if (neighborX >= 0 && neighborX < _width && neighborY >= 0 && neighborY < _height)
         {
-          yield return cells[neighborX + neighborY * cells.Count / cells[0].Y];
+          int index = neighborX + neighborY * _width;
+          if (index >= 0 && index < cells.Count)
+          {
+            yield return cells[index];
+          }
         }
       }
     }