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 */