added new assertins

added some temporary eval parts
new helper methods
worked on the walkers

nav/dijkstra/Dijkstra.h

@@ -22,9 +22,10 @@ template <typename T> class Dijkstra {
 
 public:
 
-	/** get the dijkstra-pendant for the given user-node */
-	DijkstraNode<T>* getNode(const T& userNode) {
-		return nodes[&userNode];
+	/** get the dijkstra-pendant for the given user-node. null if none matches */
+	DijkstraNode<T>* getNode(const T& userNode) const {
+		auto it = nodes.find(&userNode);
+		return (unlikely(it == nodes.end())) ? (nullptr) : (it->second);
 	}
 
 	/** build shortest path from start to end using the provided wrapper-class */

nav/dijkstra/DijkstraPath.h

@@ -2,6 +2,9 @@
 #define DIJKSTRAPATH_H
 
 #include "DijkstraStructs.h"
+#include <vector>
+
+#include "../../Assertions.h"
 
 /**
  * describes a dijkstra-generated path between end and start.
@@ -20,15 +23,30 @@ public:
 	/** ctor from end- to start-node */
 	DijkstraPath(DijkstraNode<T>* end, DijkstraNode<T>* start) {
 
+		// sanity checks
+		Assert::isNotNull(end, "end-node must not be null");
+		Assert::isNotNull(start, "start-node must not be null");
+
 		// follow the path from the end to the start
 		DijkstraNode<T>* curNode = end;
 		while (curNode != start) {
+
+			// sanity check in case no path between start and end exists
+			Assert::isNotNull(curNode, "there is not path between start and end. did you accidentially swap start and end?");
+
+			// append
 			path.push_back(curNode);
 			curNode = curNode->previous;
+
 		}
 
 	}
 
+	/** allow iteration */
+	decltype(path.begin()) begin()	{return path.begin();}
+	decltype(path.end()) end()		{return path.end();}
+
+
 	/** NANOFLANN: number of elements in the path */
 	inline int kdtree_get_point_count() const {
 		return path.size();