Navigation.buildGraph C# (CSharp) Method

    private List<Vertex> buildGraph(Vector3 start, Vector3 end)
    {
        //I can build the graph once in the future

        List<Vertex> allVertices = new List<Vertex>();
        int counter = 0;
        double connectToStartDist = Double.MaxValue;
        double connectToEndDist = Double.MaxValue;
        Vertex connectToStart = null;
        Vertex connectToEnd = null;

        foreach (Transform t in transform) {
            Waypoint w = t.gameObject.GetComponent<Waypoint>();

            Vertex temp = new Vertex(w.location());
            allVertices.Add (temp);
            if(Vector3.Distance(start, w.location ()) < connectToStartDist) {
                connectToStartDist = Vector3.Distance(start, w.location ());
                connectToStart = temp;
            }
            if(Vector3.Distance(end, w.location ()) < connectToEndDist) {
                connectToEndDist = Vector3.Distance(end, w.location ());
                connectToEnd = temp;
            }
        }
        //allVertices has all vertices in the graph
        foreach (Transform t in transform) { //for each waypoint
            Waypoint w = t.gameObject.GetComponent<Waypoint>();

            foreach (Vector3 tempAdj in w.getAdjacent()) { //for each adjacent Vector3

                foreach (Vertex vert in allVertices) {
                    if (vert.isSameLocation(tempAdj)) {
                        allVertices[counter].addAdjVert(vert);
                        break;
                    }
                }
            }
            counter++;
        }
        startVertex = new Vertex(start);
        endVertex = new Vertex(end);
        startVertex.addAdjVert(connectToStart);
        connectToEnd.addAdjVert(endVertex);

        allVertices.Add(startVertex);
        allVertices.Add(endVertex);

        return allVertices;
    }