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https://www.eeworm.com/dl/534/465758.html
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function [r_path, r_cost] = dijkstra(pathS, pathE, transmat) The Dijkstra s algorithm, Implemente
function [r_path, r_cost] = dijkstra(pathS, pathE, transmat)
The Dijkstra s algorithm, Implemented by Yi Wang, 2005
This version support detecting _cyclic-paths_