Finished network algorithm

I was able to finish a path algorithm for the ION mini-urban challenge. It finds a short path through the road map, along with passing through specific points that are required. The algorithm is based on a modified Floyd's shortest path algorithm that I have used in the past for other things. For a small network, it seems to be the one that usually works out best. I could have added a search tree to the algorithm but I needed to keep it simple to explain to the students. I am not allowed to program any of the code so I have to convey the idea and let them look into it. I passed it on to the teacher and he and some students are reviewing it to see if it is something that they can use. I can't program anything for them but I can point them in directions by stating, "have you considered this?" This is proving to be fun.