diff --git a/lib/components/feature_bottom_sheet.dart b/lib/components/feature_bottom_sheet.dart
index 7078dfe..e8a7ba5 100644
--- a/lib/components/feature_bottom_sheet.dart
+++ b/lib/components/feature_bottom_sheet.dart
@@ -19,8 +19,8 @@ Future<void> showFeatureBottomSheet(
       data: ThemeData.light(),
       child: Container(
         constraints: const BoxConstraints(
-          minHeight: 300,
-        ),
+            // minHeight: 300,
+            ),
         width: Get.mediaQuery.size.width,
         decoration: const BoxDecoration(
           color: Colors.black,
@@ -72,6 +72,28 @@ Future<void> showFeatureBottomSheet(
             const SizedBox(height: 10),
           ],
           ..._buildFeatureContent(feature),
+          const SizedBox(height: 20),
+          Row(
+            mainAxisAlignment: MainAxisAlignment.end,
+            children: [
+              ElevatedButton(
+                child: const Row(
+                  children: [
+                    Icon(
+                      Icons.share_location,
+                      color: Colors.black,
+                    ),
+                    SizedBox(width: 4),
+                    Text(
+                      "Start Navigation",
+                      style: TextStyle(color: Colors.black),
+                    ),
+                  ],
+                ),
+                onPressed: () => {},
+              ),
+            ],
+          )
         ]),
       ),
     ),
@@ -114,7 +136,35 @@ List<Widget> _buildRoomContent(Feature feature) {
 
 /// Builds the content for the Door feature type.
 List<Widget> _buildDoorContent(Feature feature, List<String> connects) {
-  return [Text('Door: ${feature.name}\nConnects: $connects')];
+  return [
+    Text(
+      feature.name,
+      style: const TextStyle(fontSize: 18),
+    ),
+    const SizedBox(height: 10),
+    if (connects.isNotEmpty) ...[
+      const Align(
+        alignment: Alignment.centerLeft,
+        child: Padding(
+          padding: EdgeInsets.only(right: 4),
+          child: Text(
+            'Connects:',
+            style: TextStyle(fontWeight: FontWeight.bold),
+          ),
+        ),
+      ),
+      Align(
+        alignment: Alignment.centerLeft,
+        child: Wrap(
+          spacing: 8,
+          runSpacing: 4,
+          children: connects.map((place) {
+            return ColorfulChip(label: place.toString());
+          }).toList(),
+        ),
+      ),
+    ],
+  ];
 }
 
 /// Builds the content for the Toilet feature type.
diff --git a/lib/components/map_render_level.dart b/lib/components/map_render_level.dart
index 7ae26f9..c818467 100644
--- a/lib/components/map_render_level.dart
+++ b/lib/components/map_render_level.dart
@@ -10,38 +10,39 @@ import 'package:uninav/map.dart';
 import 'package:uninav/util/geomath.dart';
 import 'package:uninav/util/util.dart';
 
-List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
+List<Widget> renderLevel(
+  int level,
+) {
   return <Widget>[
     LevelLayer(
-        filter: (feature) =>
-            feature.level == level && feature.type is LectureHall,
-        polyConstructor: (feature) => feature
-            .getPolygon(
-              constructor: (pts) => Polygon(
-                points: pts,
-                color: Colors.orange.withOpacity(0.2),
-                borderColor: Colors.orange,
-                borderStrokeWidth: 2,
-                hitValue: feature,
-              ),
-            )
-            .unwrap(),
-        markerConstructor: (feature) => Marker(
-              width: 50,
-              height: 20,
-              point: feature.getPoint().unwrap(),
-              child: Column(
-                children: [
-                  Icon(
-                    Icons.class_,
-                    color: Colors.black,
-                  ),
-                  Text('${feature.name}'),
-                ],
-              ),
-              alignment: Alignment.center,
+      filter: (feature) =>
+          feature.level == level && feature.type is LectureHall,
+      polyConstructor: (feature) => feature
+          .getPolygon(
+            constructor: (pts) => Polygon(
+              points: pts,
+              color: Colors.orange.withOpacity(0.2),
+              borderColor: Colors.orange,
+              borderStrokeWidth: 2,
             ),
-        notifier: hitNotifier),
+          )
+          .unwrap(),
+      markerConstructor: (feature) => Marker(
+        width: 50,
+        height: 20,
+        point: feature.getPoint().unwrap(),
+        child: Column(
+          children: [
+            Icon(
+              Icons.class_,
+              color: Colors.black,
+            ),
+            Text('${feature.name}'),
+          ],
+        ),
+        alignment: Alignment.center,
+      ),
+    ),
     LevelLayer(
       filter: (feature) => feature.level == level && feature.type is Room,
       polyConstructor: (feature) => feature
@@ -51,11 +52,9 @@ List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
               color: Colors.green.withOpacity(1.2),
               borderColor: Colors.green,
               borderStrokeWidth: 2,
-              hitValue: feature,
             ),
           )
           .unwrap(),
-      notifier: hitNotifier,
     ),
     LevelLayer(
       filter: (feature) => feature.level == level && feature.type is Door,
@@ -72,7 +71,6 @@ List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
           alignment: Alignment.center,
         );
       },
-      notifier: hitNotifier,
     ),
     LevelLayer(
       filter: (feature) => feature.level == level && feature.type is Toilet,
@@ -91,7 +89,6 @@ List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
           alignment: Alignment.center,
         );
       },
-      notifier: hitNotifier,
     ),
     LevelLayer(
       filter: (feature) =>
@@ -110,7 +107,6 @@ List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
           alignment: Alignment.center,
         );
       },
-      notifier: hitNotifier,
     ),
     LevelLayer(
       filter: (feature) =>
@@ -129,7 +125,6 @@ List<Widget> renderLevel(int level, {LayerHitNotifier? hitNotifier}) {
           alignment: Alignment.center,
         );
       },
-      notifier: hitNotifier,
     ),
   ];
 }
@@ -140,7 +135,6 @@ class LevelLayer extends StatelessWidget {
   final Marker Function(LatLng, String)? polyCenterMarkerConstructor;
   final Marker Function(Feature)? markerConstructor;
   final int? level;
-  final LayerHitNotifier? notifier;
 
   const LevelLayer({
     this.level,
@@ -148,7 +142,6 @@ class LevelLayer extends StatelessWidget {
     this.polyConstructor,
     this.polyCenterMarkerConstructor,
     this.markerConstructor,
-    this.notifier,
     super.key,
   });
 
@@ -173,7 +166,6 @@ class LevelLayer extends StatelessWidget {
                             points: points,
                             borderColor: Colors.black26,
                             borderStrokeWidth: 2.0,
-                            hitValue: feature,
                           ))
                   .unwrap());
             }
@@ -241,14 +233,12 @@ class LevelLayer extends StatelessWidget {
           widgets.add(TranslucentPointer(
             child: PolygonLayer(
               polygons: filteredPolygons,
-              hitNotifier: notifier,
             ),
           ));
         } else {
           widgets.add(TranslucentPointer(
             child: PolygonLayer(
               polygons: filteredPolygons,
-              hitNotifier: notifier,
             ),
           ));
         }
diff --git a/lib/controllers/map_controller.dart b/lib/controllers/map_controller.dart
index 6c8eef8..3d2411d 100644
--- a/lib/controllers/map_controller.dart
+++ b/lib/controllers/map_controller.dart
@@ -86,15 +86,15 @@ class MyMapController extends GetxController {
 
       final featuresList = <Feature>[];
 
-      print('doing');
+      // print('doing');
       final geojson = GeoJSONFeatureCollection.fromJSON(geoJsonString);
-      print('done');
+      // print('done');
 
       for (final feature in geojson.features) {
-        print(feature);
-        print(feature?.properties);
+        // print(feature);
+        // print(feature?.properties);
         if (feature == null) continue;
-        print(feature.properties);
+        // print(feature.properties);
         final parsed = parseFeature(
             feature.properties ?? <String, dynamic>{}, feature.geometry);
         if (parsed case Ok(:final ok)) {
diff --git a/lib/data/geo/model.dart b/lib/data/geo/model.dart
index 5e4c22c..7621e70 100644
--- a/lib/data/geo/model.dart
+++ b/lib/data/geo/model.dart
@@ -36,7 +36,6 @@ class Feature with _$Feature {
             points: pts,
             borderColor: Colors.black26,
             borderStrokeWidth: 2.0,
-            hitValue: 'test${pts.length}',
           );
       final polygon = geometry as GeoJSONPolygon;
       // print(polygon.geometry!.geoSeries[0].geoPoints);
diff --git a/lib/data/geo/parser.dart b/lib/data/geo/parser.dart
index a28df80..3d526bd 100644
--- a/lib/data/geo/parser.dart
+++ b/lib/data/geo/parser.dart
@@ -40,7 +40,7 @@ Result<Feature> parseFeature(
 
   final building = yaml['building'] as String?;
 
-  print("yaml: $yaml");
+  // print("yaml: $yaml");
 
   var raw_type = yaml['type'] as String?;
   if (raw_type == null && layer?.toLowerCase() == 'buildings') {
@@ -123,7 +123,7 @@ Result<List<String>> stringifyList(List<dynamic> tramLines) {
 
 Result<List<T>> getYamlList<T>(YamlMap yaml, String key) {
   try {
-    print('yaml is ${yaml[key]}');
+    // print('yaml is ${yaml[key]}');
     final val = (yaml[key] as YamlList?);
     if (val == null) {
       return bail("Key $key is missing in yaml");
diff --git a/lib/main.dart b/lib/main.dart
index 286c808..2d5af76 100644
--- a/lib/main.dart
+++ b/lib/main.dart
@@ -1,4 +1,5 @@
 import 'package:flutter/material.dart';
+import 'package:flutter/services.dart';
 import 'package:get/get.dart';
 import 'package:uninav/controllers/isar_controller.dart';
 import 'package:uninav/controllers/map_controller.dart';
@@ -8,6 +9,9 @@ import 'package:uninav/settings.dart';
 // TODO: maybe make not async?
 void main() async {
   Get.put(MyMapController());
+  await Get.find<MyMapController>()
+      .loadGeoJson(await rootBundle.loadString('assets/geo/uulm_beta.geojson'));
+
   await Get.putAsync(() async {
     final controller = IsarController();
     await controller.initializeIsar();
diff --git a/lib/map.dart b/lib/map.dart
index 64b70d8..a1bf028 100644
--- a/lib/map.dart
+++ b/lib/map.dart
@@ -19,7 +19,6 @@ class MapPage extends StatelessWidget {
 
   @override
   Widget build(BuildContext context) {
-    final LayerHitNotifier hitNotifier = ValueNotifier(null);
     return Scaffold(
         drawer: MyDrawer(),
         appBar: AppBar(
@@ -43,8 +42,6 @@ class MapPage extends StatelessWidget {
         floatingActionButton: FloatingActionButton(
           onPressed: () async {
             // Add onPressed logic here
-            await Get.find<MyMapController>().loadGeoJson(
-                await rootBundle.loadString('assets/geo/uulm_beta.geojson'));
           },
           child: const Icon(Icons.add),
         ),
@@ -70,7 +67,6 @@ class MapPage extends StatelessWidget {
                 TranslucentPointer(
                   child: LevelLayer(
                     filter: (feature) => feature.type is Building,
-                    notifier: hitNotifier,
                   ),
                 ),
 
@@ -97,10 +93,8 @@ class MapPage extends StatelessWidget {
                                   color: Colors.green.withOpacity(0.2),
                                   borderColor: Colors.green,
                                   borderStrokeWidth: 1,
-                                  hitValue: feature,
                                 ))
                         .unwrap(),
-                    notifier: hitNotifier,
                   ),
                 ),
 
@@ -108,8 +102,8 @@ class MapPage extends StatelessWidget {
                 Obx(
                   () => Stack(
                       children: renderLevel(
-                          Get.find<MyMapController>().currentLevel.value,
-                          hitNotifier: hitNotifier)),
+                    Get.find<MyMapController>().currentLevel.value,
+                  )),
                 ),
               ],
             ),
diff --git a/lib/nav/graph.dart b/lib/nav/graph.dart
new file mode 100644
index 0000000..261424d
--- /dev/null
+++ b/lib/nav/graph.dart
@@ -0,0 +1,425 @@
+import 'package:anyhow/anyhow.dart';
+import 'package:collection/collection.dart';
+import 'package:directed_graph/directed_graph.dart';
+import 'package:fast_immutable_collections/fast_immutable_collections.dart';
+import 'package:freezed_annotation/freezed_annotation.dart';
+import 'package:geojson_vi/geojson_vi.dart';
+import 'package:get/get.dart';
+import 'package:latlong2/latlong.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/util/geojson_util.dart';
+import 'package:uninav/util/util.dart';
+import 'dart:collection';
+
+part 'graph.freezed.dart';
+
+@freezed
+class GraphFeature with _$GraphFeature {
+  const factory GraphFeature.buildingFloor(int floor, Feature building) =
+      BuildingFloor;
+  const factory GraphFeature.portal(int fromFloor, String from, int toFloor,
+      String to, Feature baseFeature) = Portal;
+  const factory GraphFeature.basicFeature(
+      int floor, String building, Feature feature) = BasicFeature;
+
+  const GraphFeature._();
+
+  Result<LatLng> getCenter() {
+    return when(
+      buildingFloor: (floor, building) => building.getCenterPoint(),
+      portal: (fromFloor, from, toFloor, to, baseFeature) =>
+          baseFeature.getCenterPoint(),
+      basicFeature: (floor, building, feature) => feature.getCenterPoint(),
+    );
+  }
+
+  double distanceTo(GraphFeature other, String unit) => distanceBetweenLatLng(
+      getCenter().unwrap(), other.getCenter().unwrap(), unit);
+
+  double metersTo(GraphFeature other) => distanceTo(other, "meters");
+
+  @override
+  String toString() {
+    return when(
+      buildingFloor: (floor, building) => 'Floor (${building.name}:$floor)',
+      portal: (fromFloor, from, toFloor, to, _) =>
+          'Portal ($from:$fromFloor -> $to:$toFloor)',
+      basicFeature: (floor, building, feature) =>
+          'Feature (${formatFeatureTitle(feature)} ($building:$floor))',
+    );
+  }
+}
+
+bool eq(String? a, String? b) => a?.toLowerCase() == b?.toLowerCase();
+
+IList<GraphFeature> wrap(Feature feature, int floor, String buildingFrom) {
+  return feature.type
+      .maybeWhen(
+        building: () => [GraphFeature.buildingFloor(floor, feature)],
+        stairs: (floors) => stairPortalGenerator(floors, floor, feature),
+        lift: (floors) => stairPortalGenerator(floors, floor, feature, 99),
+        door: (connections) =>
+            doorPortalGenerator(connections, floor, buildingFrom, feature),
+        orElse: () => [GraphFeature.basicFeature(floor, buildingFrom, feature)],
+      )
+      .lock;
+}
+
+List<GraphFeature> doorPortalGenerator(
+    List<String> connections, int floor, String from, Feature feature) {
+  final portals = <GraphFeature>[];
+
+  for (final connection in connections.where((c) => !eq(c, from))) {
+    portals.add(GraphFeature.portal(
+        floor, from, floor, connection.toLowerCase(), feature));
+  }
+
+  return portals;
+}
+
+List<GraphFeature> stairPortalGenerator(
+    List<int> floors, int floor, Feature feature,
+    [int maxDist = 1]) {
+  final portals = <GraphFeature>[];
+  for (int i = 1; i <= maxDist; i++) {
+    if (floors.contains(floor - i)) {
+      portals.add(GraphFeature.portal(floor, feature.building!.toLowerCase(),
+          floor - i, feature.building!.toLowerCase(), feature));
+    }
+    if (floors.contains(floor + i)) {
+      portals.add(GraphFeature.portal(floor, feature.building!.toLowerCase(),
+          floor + i, feature.building!.toLowerCase(), feature));
+    }
+  }
+  return portals;
+}
+
+Feature unwrap(GraphFeature feature) {
+  return feature.when(
+    buildingFloor: (floor, building) => building,
+    portal: (fromFloor, from, toFloor, to, baseFeature) => baseFeature,
+    basicFeature: (floor, building, f) => f,
+  );
+}
+
+double sum(double left, double right) => left + right;
+
+// WeightedDirectedGraph createGraph(Feature origin, List<Feature> allFeatures) {
+//
+// }
+
+List<GraphFeature> findAdjacent(
+    GraphFeature feature, Iterable<Feature> allFeatures) {
+  List<GraphFeature> adjacentFeatures = [];
+
+  if (feature is BuildingFloor) {
+    // find all features in the building on the right floor
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.building, feature.building.name) || f.type is Door)
+        .where((f) => f.type.maybeWhen(
+            lift: (levels) => levels.contains(feature.floor),
+            stairs: (levels) => levels.contains(feature.floor),
+            door: (connections) =>
+                f.level == feature.floor &&
+                connections
+                    .map((e) => e.toLowerCase())
+                    .contains(feature.building.name.toLowerCase()),
+            orElse: () => f.level == feature.floor))
+        .mapMany((f) => wrap(f, feature.floor, feature.building.name))
+        .toList();
+  } else if (feature is Portal) {
+    adjacentFeatures = allFeatures
+        .where((f) => eq(f.name, feature.to) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.toFloor, feature.to))
+        .toList();
+  } else if (feature is BasicFeature) {
+    adjacentFeatures = allFeatures
+        .where(
+            (f) => eq(f.name, feature.feature.building) && f.type is Building)
+        .mapMany((f) => wrap(f, feature.feature.level!, f.name))
+        .toList();
+  }
+  return adjacentFeatures;
+}
+
+List<GraphFeature> createGraphList(
+    GraphFeature origin, List<Feature> allFeatures,
+    [Set<GraphFeature>? visited]) {
+  // final usedFeatures = <GraphFeature>[origin];
+
+  visited ??= <GraphFeature>{origin};
+
+  final adjacent = findAdjacent(origin, allFeatures);
+  for (final feature in adjacent.asSet()..removeAll(visited)) {
+    visited.add(feature);
+    final deeper = createGraphList(feature, allFeatures, visited);
+    visited.addAll(deeper);
+  }
+
+  return visited.toList();
+}
+
+Map<GraphFeature, Map<GraphFeature, double>> createGraphMap(
+    GraphFeature origin, List<Feature> allFeatures) {
+  final graphList = createGraphList(origin, allFeatures);
+  final graphMap = <GraphFeature, Map<GraphFeature, double>>{};
+  for (final node in graphList) {
+    final adjacents = node.when(
+      buildingFloor: (floor, building) {
+        return graphList
+            .where((f) =>
+                f is Portal &&
+                    eq(f.from, building.name) &&
+                    f.fromFloor == floor ||
+                f is BasicFeature &&
+                    eq(f.building, building.name) &&
+                    f.floor == floor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) => (
+                    f,
+                    f.metersTo(node),
+                  ),
+                  basicFeature: (floor, building, feature) =>
+                      (f, f.metersTo(node)),
+                  buildingFloor: (floor, building) => throw StateError(
+                      "BUG: createGraphMap(): BuildingFloors shouldn't "
+                      "be matched by BuildingFloors"),
+                ));
+      },
+      portal: (fromFloor, from, toFloor, to, baseFeature) {
+        return graphList
+            .where((f) =>
+                f is BuildingFloor &&
+                eq(f.building.name, to) &&
+                f.floor == toFloor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
+                      throw StateError(
+                          "BUG: createGraphMap(): Portals shouldn't "
+                          "be matched by Portals"),
+                  basicFeature: (floor, building, feature) => throw StateError(
+                      "BUG: createGraphMap(): BasicFeatures shouldn't "
+                      "be matched by BasicFeatures"),
+                  buildingFloor: (floor, building) => (
+                    f,
+                    f.metersTo(node) +
+                        5 /* 5 extra meters for all portals. TODO: smarter!*/
+                  ),
+                ));
+      },
+      basicFeature: (floor, building, feature) {
+        return graphList
+            .where((f) =>
+                f is BuildingFloor &&
+                eq(f.building.name, building) &&
+                f.floor == floor)
+            .map((f) => f.when(
+                  portal: (fromFloor, from, toFloor, to, baseFeature) =>
+                      throw StateError(
+                          "BUG: createGraphMap(): Portal shouldn't be matched "
+                          "by BasicFeature"),
+                  basicFeature: (floor, building, feature) => throw StateError(
+                      "BUG: createGraphMap(): BasicFeatures shouldn't "
+                      "be matched by BasicFeatures"),
+                  buildingFloor: (floor, building) => (f, f.metersTo(node)),
+                ));
+      },
+    );
+
+    graphMap[node] =
+        Map.fromEntries(adjacents.map((tup) => MapEntry(tup.$1, tup.$2)));
+  }
+
+  return graphMap;
+}
+
+WeightedDirectedGraph<GraphFeature, double> createGraph(
+    GraphFeature origin, List<Feature> allFeatures) {
+  final map = createGraphMap(origin, allFeatures);
+  final graph = WeightedDirectedGraph<GraphFeature, double>(
+    map,
+    summation: sum,
+    zero: 0.0,
+    comparator: (a, b) => compareGraphFeatures(a, b),
+  );
+  return graph;
+}
+
+Result<List<(GraphFeature, double)>> findShortestPath(
+    GraphFeature origin, GraphFeature destination, List<Feature> allFeatures,
+    [heuristicVariant = "zero", heuristicMultiplier = 0.2]) {
+  var graph = createGraphMap(origin, allFeatures);
+
+  if (!(graph.keys.contains(origin) &&
+      graph.values.firstWhereOrNull((vals) => vals.containsKey(destination)) !=
+          null)) {
+    return bail("Origin or destination not in graph");
+  }
+
+  // euclidean distance heuristic
+
+  double Function(GraphFeature) heuristic =
+      (GraphFeature node) => 0.0; // standard zero
+  if (heuristicVariant == "zero") {
+    heuristic = (GraphFeature node) => 0.0;
+  } else if (heuristicVariant == "euclidean") {
+    heuristic =
+        (GraphFeature node) => node.metersTo(destination) * heuristicMultiplier;
+  }
+
+  //heuristic(GraphFeature node) => 0.0;
+
+  // openlist
+  // format: (heuristic, g-val, parent?, node)
+  PriorityQueue<(double, double, GraphFeature?, GraphFeature)> openlist =
+      HeapPriorityQueue(
+    // reverse order (cmp b to a) because lower f-val (shorter distance) is better
+    (a, b) => (b.$1 + b.$2).compareTo((a.$1 + a.$2)),
+  );
+
+  final Map<GraphFeature, (GraphFeature?, double)> bestPathMap = {
+    origin: (null, 0.0)
+  };
+
+  openlist.add((heuristic(origin), 0.0, null, origin));
+
+  // closed list
+  Set<GraphFeature> closedlist = {};
+
+  var cost = 0.0;
+
+  while (openlist.isNotEmpty) {
+    final (f, g, parent, node) = openlist.removeFirst();
+    closedlist.add(node);
+    bestPathMap[node] = (parent, g);
+    if (node == destination) {
+      cost = g;
+      break;
+      // TODO: restore path
+    }
+
+    // expand node
+    final adjacents = graph[node]!;
+    for (final entry in adjacents.entries) {
+      final adjNode = entry.key;
+      final adjCost = entry.value;
+
+      if (closedlist.contains(adjNode)) {
+        continue;
+      }
+
+      bool found = false;
+      for (final open in openlist.unorderedElements) {
+        if (open.$4 == adjNode) {
+          found = true;
+          if (g + adjCost < open.$2) {
+            openlist.remove(open);
+            openlist.add((
+              open.$1 /* heuristic stays the same */,
+              g + adjCost,
+              adjNode,
+              open.$4
+            ));
+          }
+          break;
+        }
+      }
+
+      if (!found) {
+        openlist.add((
+          f + heuristic(adjNode),
+          g + adjCost,
+          node,
+          adjNode,
+        ));
+      }
+    }
+  }
+  if (bestPathMap.isNotEmpty) {
+    final path = <(GraphFeature, double)>[];
+    (GraphFeature?, double)? currentNode = (destination, cost);
+    while (currentNode?.$1 != null) {
+      final nextNode = bestPathMap[currentNode!.$1];
+      path.insert(
+          0, (currentNode!.$1!, currentNode.$2 - (nextNode?.$2 ?? 0.0)));
+      currentNode = nextNode;
+    }
+    return Ok(path);
+  }
+
+  return bail("No path found");
+}
+
+/// Compares two [GraphFeature] instances and determines their relative order.
+///
+/// The comparison is based on the specific subtypes and properties of the
+/// [GraphFeature] instances. The comparison logic is as follows:
+///
+/// 1. If both instances are [BuildingFloor], they are compared first by the
+///    building name and then by the floor number.
+/// 2. If one instance is a [Portal] and the other is a [BuildingFloor] or
+///    [BasicFeature], the [Portal] is considered greater.
+/// 3. If both instances are [Portal], they are compared first by the `from`
+///    property, then by the `to` property, and finally by the `baseFeature` name.
+/// 4. If one instance is a [BasicFeature] and the other is a [BuildingFloor] or
+///    [Portal], the [BasicFeature] is considered greater.
+/// 5. If both instances are [BasicFeature], they are compared first by the
+///    building name, then by the floor number, and finally by the feature name.
+///
+/// Returns a negative value if [a] is considered "less than" [b], a positive
+/// value if [a] is considered "greater than" [b], and zero if they are considered
+/// equal.
+///
+/// This function can be used as a comparator for sorting or ordering
+/// [GraphFeature] instances.
+int compareGraphFeatures(GraphFeature a, GraphFeature b) {
+  return a.when(
+    buildingFloor: (floorA, buildingA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) {
+          final buildingComparison = buildingA.name.compareTo(buildingB.name);
+          if (buildingComparison != 0) {
+            return buildingComparison;
+          }
+          return floorA.compareTo(floorB);
+        },
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => -1,
+        basicFeature: (floorB, buildingB, featureB) => -1,
+      );
+    },
+    portal: (fromFloorA, fromA, toFloorA, toA, baseFeatureA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) => 1,
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) {
+          final fromComparison = fromA.compareTo(fromB);
+          if (fromComparison != 0) {
+            return fromComparison;
+          }
+          final toComparison = toA.compareTo(toB);
+          if (toComparison != 0) {
+            return toComparison;
+          }
+          return baseFeatureA.name.compareTo(baseFeatureB.name);
+        },
+        basicFeature: (floorB, buildingB, featureB) => -1,
+      );
+    },
+    basicFeature: (floorA, buildingA, featureA) {
+      return b.when(
+        buildingFloor: (floorB, buildingB) => 1,
+        portal: (fromFloorB, fromB, toFloorB, toB, baseFeatureB) => 1,
+        basicFeature: (floorB, buildingB, featureB) {
+          final buildingComparison = buildingA.compareTo(buildingB);
+          if (buildingComparison != 0) {
+            return buildingComparison;
+          }
+          final floorComparison = floorA.compareTo(floorB);
+          if (floorComparison != 0) {
+            return floorComparison;
+          }
+          return featureA.name.compareTo(featureB.name);
+        },
+      );
+    },
+  );
+}
diff --git a/lib/nav/graph.freezed.dart b/lib/nav/graph.freezed.dart
new file mode 100644
index 0000000..56f5d61
--- /dev/null
+++ b/lib/nav/graph.freezed.dart
@@ -0,0 +1,646 @@
+// coverage:ignore-file
+// GENERATED CODE - DO NOT MODIFY BY HAND
+// ignore_for_file: type=lint
+// ignore_for_file: unused_element, deprecated_member_use, deprecated_member_use_from_same_package, use_function_type_syntax_for_parameters, unnecessary_const, avoid_init_to_null, invalid_override_different_default_values_named, prefer_expression_function_bodies, annotate_overrides, invalid_annotation_target, unnecessary_question_mark
+
+part of 'graph.dart';
+
+// **************************************************************************
+// FreezedGenerator
+// **************************************************************************
+
+T _$identity<T>(T value) => value;
+
+final _privateConstructorUsedError = UnsupportedError(
+    'It seems like you constructed your class using `MyClass._()`. This constructor is only meant to be used by freezed and you are not supposed to need it nor use it.\nPlease check the documentation here for more information: https://github.com/rrousselGit/freezed#adding-getters-and-methods-to-our-models');
+
+/// @nodoc
+mixin _$GraphFeature {
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) =>
+      throw _privateConstructorUsedError;
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class $GraphFeatureCopyWith<$Res> {
+  factory $GraphFeatureCopyWith(
+          GraphFeature value, $Res Function(GraphFeature) then) =
+      _$GraphFeatureCopyWithImpl<$Res, GraphFeature>;
+}
+
+/// @nodoc
+class _$GraphFeatureCopyWithImpl<$Res, $Val extends GraphFeature>
+    implements $GraphFeatureCopyWith<$Res> {
+  _$GraphFeatureCopyWithImpl(this._value, this._then);
+
+  // ignore: unused_field
+  final $Val _value;
+  // ignore: unused_field
+  final $Res Function($Val) _then;
+}
+
+/// @nodoc
+abstract class _$$BuildingFloorImplCopyWith<$Res> {
+  factory _$$BuildingFloorImplCopyWith(
+          _$BuildingFloorImpl value, $Res Function(_$BuildingFloorImpl) then) =
+      __$$BuildingFloorImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call({int floor, Feature building});
+
+  $FeatureCopyWith<$Res> get building;
+}
+
+/// @nodoc
+class __$$BuildingFloorImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$BuildingFloorImpl>
+    implements _$$BuildingFloorImplCopyWith<$Res> {
+  __$$BuildingFloorImplCopyWithImpl(
+      _$BuildingFloorImpl _value, $Res Function(_$BuildingFloorImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? floor = null,
+    Object? building = null,
+  }) {
+    return _then(_$BuildingFloorImpl(
+      null == floor
+          ? _value.floor
+          : floor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == building
+          ? _value.building
+          : building // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get building {
+    return $FeatureCopyWith<$Res>(_value.building, (value) {
+      return _then(_value.copyWith(building: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$BuildingFloorImpl extends BuildingFloor {
+  const _$BuildingFloorImpl(this.floor, this.building) : super._();
+
+  @override
+  final int floor;
+  @override
+  final Feature building;
+
+  @override
+  String toString() {
+    return 'GraphFeature.buildingFloor(floor: $floor, building: $building)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    return identical(this, other) ||
+        (other.runtimeType == runtimeType &&
+            other is _$BuildingFloorImpl &&
+            (identical(other.floor, floor) || other.floor == floor) &&
+            (identical(other.building, building) ||
+                other.building == building));
+  }
+
+  @override
+  int get hashCode => Object.hash(runtimeType, floor, building);
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$BuildingFloorImplCopyWith<_$BuildingFloorImpl> get copyWith =>
+      __$$BuildingFloorImplCopyWithImpl<_$BuildingFloorImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return buildingFloor(floor, building);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return buildingFloor?.call(floor, building);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (buildingFloor != null) {
+      return buildingFloor(floor, building);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return buildingFloor(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return buildingFloor?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (buildingFloor != null) {
+      return buildingFloor(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class BuildingFloor extends GraphFeature {
+  const factory BuildingFloor(final int floor, final Feature building) =
+      _$BuildingFloorImpl;
+  const BuildingFloor._() : super._();
+
+  int get floor;
+  Feature get building;
+  @JsonKey(ignore: true)
+  _$$BuildingFloorImplCopyWith<_$BuildingFloorImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class _$$PortalImplCopyWith<$Res> {
+  factory _$$PortalImplCopyWith(
+          _$PortalImpl value, $Res Function(_$PortalImpl) then) =
+      __$$PortalImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call(
+      {int fromFloor,
+      String from,
+      int toFloor,
+      String to,
+      Feature baseFeature});
+
+  $FeatureCopyWith<$Res> get baseFeature;
+}
+
+/// @nodoc
+class __$$PortalImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$PortalImpl>
+    implements _$$PortalImplCopyWith<$Res> {
+  __$$PortalImplCopyWithImpl(
+      _$PortalImpl _value, $Res Function(_$PortalImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? fromFloor = null,
+    Object? from = null,
+    Object? toFloor = null,
+    Object? to = null,
+    Object? baseFeature = null,
+  }) {
+    return _then(_$PortalImpl(
+      null == fromFloor
+          ? _value.fromFloor
+          : fromFloor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == from
+          ? _value.from
+          : from // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == toFloor
+          ? _value.toFloor
+          : toFloor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == to
+          ? _value.to
+          : to // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == baseFeature
+          ? _value.baseFeature
+          : baseFeature // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get baseFeature {
+    return $FeatureCopyWith<$Res>(_value.baseFeature, (value) {
+      return _then(_value.copyWith(baseFeature: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$PortalImpl extends Portal {
+  const _$PortalImpl(
+      this.fromFloor, this.from, this.toFloor, this.to, this.baseFeature)
+      : super._();
+
+  @override
+  final int fromFloor;
+  @override
+  final String from;
+  @override
+  final int toFloor;
+  @override
+  final String to;
+  @override
+  final Feature baseFeature;
+
+  @override
+  String toString() {
+    return 'GraphFeature.portal(fromFloor: $fromFloor, from: $from, toFloor: $toFloor, to: $to, baseFeature: $baseFeature)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    return identical(this, other) ||
+        (other.runtimeType == runtimeType &&
+            other is _$PortalImpl &&
+            (identical(other.fromFloor, fromFloor) ||
+                other.fromFloor == fromFloor) &&
+            (identical(other.from, from) || other.from == from) &&
+            (identical(other.toFloor, toFloor) || other.toFloor == toFloor) &&
+            (identical(other.to, to) || other.to == to) &&
+            (identical(other.baseFeature, baseFeature) ||
+                other.baseFeature == baseFeature));
+  }
+
+  @override
+  int get hashCode =>
+      Object.hash(runtimeType, fromFloor, from, toFloor, to, baseFeature);
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$PortalImplCopyWith<_$PortalImpl> get copyWith =>
+      __$$PortalImplCopyWithImpl<_$PortalImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return portal(fromFloor, from, toFloor, to, baseFeature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return portal?.call(fromFloor, from, toFloor, to, baseFeature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (portal != null) {
+      return portal(fromFloor, from, toFloor, to, baseFeature);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return portal(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return portal?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (portal != null) {
+      return portal(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class Portal extends GraphFeature {
+  const factory Portal(
+      final int fromFloor,
+      final String from,
+      final int toFloor,
+      final String to,
+      final Feature baseFeature) = _$PortalImpl;
+  const Portal._() : super._();
+
+  int get fromFloor;
+  String get from;
+  int get toFloor;
+  String get to;
+  Feature get baseFeature;
+  @JsonKey(ignore: true)
+  _$$PortalImplCopyWith<_$PortalImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}
+
+/// @nodoc
+abstract class _$$BasicFeatureImplCopyWith<$Res> {
+  factory _$$BasicFeatureImplCopyWith(
+          _$BasicFeatureImpl value, $Res Function(_$BasicFeatureImpl) then) =
+      __$$BasicFeatureImplCopyWithImpl<$Res>;
+  @useResult
+  $Res call({int floor, String building, Feature feature});
+
+  $FeatureCopyWith<$Res> get feature;
+}
+
+/// @nodoc
+class __$$BasicFeatureImplCopyWithImpl<$Res>
+    extends _$GraphFeatureCopyWithImpl<$Res, _$BasicFeatureImpl>
+    implements _$$BasicFeatureImplCopyWith<$Res> {
+  __$$BasicFeatureImplCopyWithImpl(
+      _$BasicFeatureImpl _value, $Res Function(_$BasicFeatureImpl) _then)
+      : super(_value, _then);
+
+  @pragma('vm:prefer-inline')
+  @override
+  $Res call({
+    Object? floor = null,
+    Object? building = null,
+    Object? feature = null,
+  }) {
+    return _then(_$BasicFeatureImpl(
+      null == floor
+          ? _value.floor
+          : floor // ignore: cast_nullable_to_non_nullable
+              as int,
+      null == building
+          ? _value.building
+          : building // ignore: cast_nullable_to_non_nullable
+              as String,
+      null == feature
+          ? _value.feature
+          : feature // ignore: cast_nullable_to_non_nullable
+              as Feature,
+    ));
+  }
+
+  @override
+  @pragma('vm:prefer-inline')
+  $FeatureCopyWith<$Res> get feature {
+    return $FeatureCopyWith<$Res>(_value.feature, (value) {
+      return _then(_value.copyWith(feature: value));
+    });
+  }
+}
+
+/// @nodoc
+
+class _$BasicFeatureImpl extends BasicFeature {
+  const _$BasicFeatureImpl(this.floor, this.building, this.feature) : super._();
+
+  @override
+  final int floor;
+  @override
+  final String building;
+  @override
+  final Feature feature;
+
+  @override
+  String toString() {
+    return 'GraphFeature.basicFeature(floor: $floor, building: $building, feature: $feature)';
+  }
+
+  @override
+  bool operator ==(Object other) {
+    return identical(this, other) ||
+        (other.runtimeType == runtimeType &&
+            other is _$BasicFeatureImpl &&
+            (identical(other.floor, floor) || other.floor == floor) &&
+            (identical(other.building, building) ||
+                other.building == building) &&
+            (identical(other.feature, feature) || other.feature == feature));
+  }
+
+  @override
+  int get hashCode => Object.hash(runtimeType, floor, building, feature);
+
+  @JsonKey(ignore: true)
+  @override
+  @pragma('vm:prefer-inline')
+  _$$BasicFeatureImplCopyWith<_$BasicFeatureImpl> get copyWith =>
+      __$$BasicFeatureImplCopyWithImpl<_$BasicFeatureImpl>(this, _$identity);
+
+  @override
+  @optionalTypeArgs
+  TResult when<TResult extends Object?>({
+    required TResult Function(int floor, Feature building) buildingFloor,
+    required TResult Function(int fromFloor, String from, int toFloor,
+            String to, Feature baseFeature)
+        portal,
+    required TResult Function(int floor, String building, Feature feature)
+        basicFeature,
+  }) {
+    return basicFeature(floor, building, feature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? whenOrNull<TResult extends Object?>({
+    TResult? Function(int floor, Feature building)? buildingFloor,
+    TResult? Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult? Function(int floor, String building, Feature feature)?
+        basicFeature,
+  }) {
+    return basicFeature?.call(floor, building, feature);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeWhen<TResult extends Object?>({
+    TResult Function(int floor, Feature building)? buildingFloor,
+    TResult Function(int fromFloor, String from, int toFloor, String to,
+            Feature baseFeature)?
+        portal,
+    TResult Function(int floor, String building, Feature feature)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (basicFeature != null) {
+      return basicFeature(floor, building, feature);
+    }
+    return orElse();
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult map<TResult extends Object?>({
+    required TResult Function(BuildingFloor value) buildingFloor,
+    required TResult Function(Portal value) portal,
+    required TResult Function(BasicFeature value) basicFeature,
+  }) {
+    return basicFeature(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult? mapOrNull<TResult extends Object?>({
+    TResult? Function(BuildingFloor value)? buildingFloor,
+    TResult? Function(Portal value)? portal,
+    TResult? Function(BasicFeature value)? basicFeature,
+  }) {
+    return basicFeature?.call(this);
+  }
+
+  @override
+  @optionalTypeArgs
+  TResult maybeMap<TResult extends Object?>({
+    TResult Function(BuildingFloor value)? buildingFloor,
+    TResult Function(Portal value)? portal,
+    TResult Function(BasicFeature value)? basicFeature,
+    required TResult orElse(),
+  }) {
+    if (basicFeature != null) {
+      return basicFeature(this);
+    }
+    return orElse();
+  }
+}
+
+abstract class BasicFeature extends GraphFeature {
+  const factory BasicFeature(
+          final int floor, final String building, final Feature feature) =
+      _$BasicFeatureImpl;
+  const BasicFeature._() : super._();
+
+  int get floor;
+  String get building;
+  Feature get feature;
+  @JsonKey(ignore: true)
+  _$$BasicFeatureImplCopyWith<_$BasicFeatureImpl> get copyWith =>
+      throw _privateConstructorUsedError;
+}
diff --git a/lib/settings copy.dart b/lib/settings copy.dart
deleted file mode 100644
index 1ebd1ea..0000000
--- a/lib/settings copy.dart	
+++ /dev/null
@@ -1,21 +0,0 @@
-import 'package:flutter/material.dart';
-import 'package:uninav/components/drawer.dart';
-import 'package:uninav/components/hamburger_menu.dart';
-
-class SettingsPage extends StatelessWidget {
-  const SettingsPage({super.key});
-
-  @override
-  Widget build(BuildContext context) {
-    return Scaffold(
-      appBar: AppBar(
-        title: const Text('Settings'),
-        leading: HamburgerMenu(),
-      ),
-      drawer: MyDrawer(),
-      body: const Center(
-        child: Text('TODO'),
-      ),
-    );
-  }
-}
diff --git a/pubspec.lock b/pubspec.lock
index 49176c6..6acf2e4 100644
--- a/pubspec.lock
+++ b/pubspec.lock
@@ -154,7 +154,7 @@ packages:
     source: hosted
     version: "4.10.0"
   collection:
-    dependency: transitive
+    dependency: "direct main"
     description:
       name: collection
       sha256: ee67cb0715911d28db6bf4af1026078bd6f0128b07a5f66fb2ed94ec6783c09a
@@ -185,14 +185,6 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.0.8"
-  dart_earcut:
-    dependency: transitive
-    description:
-      name: dart_earcut
-      sha256: "41b493147e30a051efb2da1e3acb7f38fe0db60afba24ac1ea5684cee272721e"
-      url: "https://pub.dev"
-    source: hosted
-    version: "1.1.0"
   dart_style:
     dependency: transitive
     description:
@@ -209,6 +201,22 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.2.0"
+  directed_graph:
+    dependency: "direct main"
+    description:
+      name: directed_graph
+      sha256: fcb45029b4a5089d383b79056b6716d6bf5af79b8e7dbac4b61d26af46410548
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.4.3"
+  exception_templates:
+    dependency: transitive
+    description:
+      name: exception_templates
+      sha256: "517f7c770da690073663f867ee2057ae2f4ffb28edae9da9faa624aa29ac76eb"
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.3.1"
   fake_async:
     dependency: transitive
     description:
@@ -217,6 +225,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.3.1"
+  fast_immutable_collections:
+    dependency: "direct main"
+    description:
+      name: fast_immutable_collections
+      sha256: "38fbc50df5b219dcfb83ebbc3275ec09872530ca1153858fc56fceadb310d037"
+      url: "https://pub.dev"
+    source: hosted
+    version: "10.2.2"
   ffi:
     dependency: transitive
     description:
@@ -258,10 +274,10 @@ packages:
     dependency: "direct main"
     description:
       name: flutter_map
-      sha256: bee8c5bacb49a68aabcf6009c050a8b3b07ac75403f29f741d8c00d4a725e086
+      sha256: cda8d72135b697f519287258b5294a57ce2f2a5ebf234f0e406aad4dc14c9399
       url: "https://pub.dev"
     source: hosted
-    version: "7.0.0-dev.1"
+    version: "6.1.0"
   flutter_test:
     dependency: "direct dev"
     description: flutter
@@ -424,6 +440,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "0.9.1"
+  lazy_memo:
+    dependency: transitive
+    description:
+      name: lazy_memo
+      sha256: dcb30b4184a6d767e1d779d74ce784d752d38313b8fb4bad6b659ae7af4bb34d
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.2.3"
   leak_tracker:
     dependency: transitive
     description:
@@ -640,6 +664,14 @@ packages:
       url: "https://pub.dev"
     source: hosted
     version: "1.2.3"
+  quote_buffer:
+    dependency: transitive
+    description:
+      name: quote_buffer
+      sha256: c4cd07e55ed1b1645a1cc74278a03b2a642c9f6ea3c0528d51827fdd320acf87
+      url: "https://pub.dev"
+    source: hosted
+    version: "0.2.6"
   rust_core:
     dependency: "direct main"
     description:
diff --git a/pubspec.yaml b/pubspec.yaml
index 47b4e9f..2d90027 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -39,7 +39,8 @@ dependencies:
   yaml: ^3.1.2
   surrealdb: ^0.8.0
   # geojson: ^1.0.0
-  flutter_map: 7.0.0-dev.1
+  # flutter_map: 7.0.0-dev.1
+  flutter_map: ^6.0.0
   # flutter_map: ^4.0.0
   latlong2: ^0.9.0
   # latlong2: ^0.8.0
@@ -53,6 +54,9 @@ dependencies:
   isar: ^3.1.0+1
   isar_flutter_libs: ^3.1.0+1
   path_provider: ^2.1.3
+  directed_graph: ^0.4.3
+  fast_immutable_collections: ^10.2.2
+  collection: ^1.18.0
 
 dev_dependencies:
   flutter_test:
diff --git a/test/graph_tests.dart b/test/graph_tests.dart
new file mode 100644
index 0000000..a7ea265
--- /dev/null
+++ b/test/graph_tests.dart
@@ -0,0 +1,176 @@
+import 'dart:async';
+
+import 'package:flutter/material.dart';
+import 'package:flutter/services.dart';
+import 'package:flutter_test/flutter_test.dart';
+import 'package:get/get.dart';
+import 'package:uninav/controllers/map_controller.dart';
+import 'package:uninav/data/geo/model.dart';
+import 'package:uninav/nav/graph.dart';
+import 'package:uninav/util/util.dart';
+
+String formatGraphFeature(GraphFeature feature) {
+  return feature.when(
+    buildingFloor: (floor, building) => "(bfl ${building.name}:$floor)",
+    portal: (fromFloor, from, toFloor, to, baseFeat) {
+      return "(p ${formatFeatureTitle(baseFeat)} $from:$fromFloor -> $to:$toFloor)";
+    },
+    basicFeature: (lv, building, bf) =>
+        "(bf ${formatFeatureTitle(bf)} $building:$lv)",
+  );
+}
+
+void main() {
+  TestWidgetsFlutterBinding.ensureInitialized();
+  group('findAdjacent', () {
+    late MyMapController mapController;
+    late List<Feature> allFeatures;
+
+    setUp(() async {
+      // Initialize the MyMapController and load the GeoJSON data
+      mapController = MyMapController();
+      await mapController.loadGeoJson(
+          await rootBundle.loadString('assets/geo/uulm_beta.geojson'));
+      allFeatures = mapController.features;
+    });
+
+    test('generates a graph', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraph(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+      // print(graph);
+    });
+
+    test('generates a graph map', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraphMap(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      print(graph.entries
+          .map((entry) => "${formatGraphFeature(entry.key)}: "
+              "{${entry.value.entries.map((e) => "${formatGraphFeature(entry.key)}: ${entry.value.map((key, value) => MapEntry(formatGraphFeature(key), value))}").join(', ')}")
+          .join('\n'));
+    });
+
+    test('generates a graph list', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final graph = createGraphList(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+      var text = graph.map(formatGraphFeature).join(' ');
+      print(text);
+    });
+
+    test('finds adjacent features for a building', () {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final buildingFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // Find adjacent features for the building
+      final adjacentFeatures = findAdjacent(
+          wrap(buildingFeature, 2, buildingFeature.name).first, allFeatures);
+
+      final doorPortal = adjacentFeatures
+          .firstWhere((f) => f is Portal && f.baseFeature.type is Door);
+      print(
+          "adjacent for building ${buildingFeature.name}: \n${adjacentFeatures.map((e) => "${e.toString()}\n")}");
+      print(adjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final doorAdjacentFeatures = findAdjacent(doorPortal, allFeatures);
+
+      print("\n\ndoor $doorPortal : ");
+      print(doorAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(doorAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final stairsPortal = adjacentFeatures
+          .firstWhere((f) => f is Portal && f.baseFeature.type is Stairs);
+
+      final stairsAdjacentFeatures = findAdjacent(stairsPortal, allFeatures);
+
+      print("\n\nstairs $stairsPortal : ");
+      print(stairsAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(stairsAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      final baseFeature = adjacentFeatures.firstWhere((f) => f is BasicFeature);
+
+      final baseAdjacentFeatures = findAdjacent(baseFeature, allFeatures);
+
+      print("\n\nbase $baseFeature : ");
+      print(baseAdjacentFeatures.map((e) => "${e.toString()}\n"));
+      print(baseAdjacentFeatures.map(unwrap).map(formatFeatureTitle));
+
+      // Check if all adjacent features are in the same building
+      expect(
+          true, // TODO
+          true);
+    });
+
+    test('tries to find a path through the graph using own method', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H1'));
+
+      print(endFeature);
+
+      final path = findShortestPath(
+        wrap(startFeature, 2, startFeature.name).first,
+        // wrap(endFeature, 2, endFeature.name).first,
+        wrap(endFeature, endFeature.level!, endFeature.building!).first,
+        allFeatures,
+      );
+      print(path
+          .unwrap()
+          .map((e) => "${formatGraphFeature(e.$1)} (${e.$2}m)")
+          .join(' -> '));
+    });
+
+    /*
+    test('tries to find a path through the graph', () async {
+      // Find a building feature
+      // final buildingFeature = allFeatures.firstWhere((f) => f.type is Building);
+      final startFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o28'));
+
+      final endFeature = allFeatures
+          .firstWhere((f) => f.type is Building && eq(f.name, 'o25'));
+
+      // final endFeature = allFeatures
+      //     .firstWhere((f) => f.type is LectureHall && eq(f.name, 'H1'));
+
+      final graph = createGraph(
+          wrap(startFeature, 2, startFeature.name).first, allFeatures);
+
+      final path = await Future.any([
+        Future.delayed(const Duration(seconds: 5),
+            () => throw TimeoutException('Test timed out after 5 seconds')),
+        Future(() => graph.shortestPath(
+              wrap(startFeature, 1, startFeature.name).first,
+              wrap(endFeature, 2, endFeature.name).first,
+              //wrap(endFeature, endFeature.level!, endFeature.building!).first,
+            )),
+      ]);
+
+      print(path.map(formatGraphFeature).join('\n'));
+    });
+    */
+  });
+}