
Curve2cspath Transforms a 2D point sequence into a CS path (3 DOFs)
Pre/Post conds (curve::isseqof:isfun) => (isfun)
Example (AA:(Curve2CSPath:trajectory ~ [ID]) ~ Sampling):20; 
Inarcs returns the inward arcs of a given node in a graph
Pre/Post conds (node::isint)(graph::isseqOf:IsTriple) => (IsSeqOf:IsPair)
Example inarcs:7:< < 0,1,2>,< 1,2,5>,< 2,3,3>,< 3,4,4>,< 1,5,0>,< 6,2,0>, < 2,7,0>,< 8,3,0>,< 5,6,10>,< 6,7,5>,< 7,8,2>> == < < 2,0>,< 6,5>> 
Outarcs returns the outward arcs of a given node in a graph
Pre/Post conds (node::isint)(graph::isseqOf:IsTriple) => (IsSeqOf:IsPair)
Example outarcs:7:< < 0,1,2>,< 1,2,5>,< 2,3,3>,< 3,4,4>,< 1,5,0>,< 6,2,0>, < 2,7,0>,< 8,3,0>,< 5,6,10>,< 6,7,5>,< 7,8,2>> == < < 8,2>> 
Tmax computes the maximum spanning time of a given node in a graph
Pre/Post conds (graph::isseqof:istriple)(node::isint) => (isint)
Example See p. 672 
Tmin computes the minimum spanning time of a given node in a graph
Pre/Post conds (graph::isseqof:istriple)(node::isint) => (isint)
Example See p. 672