It doesn't work with a filtered_graph.  Adding the following line:

boost::property_map<filtered_grid, boost::vertex_index_t>::const_type fpm = get(boost::vertex_index, m_barrier_grid);

produces this error:

g++ -g -I/src/boost-trunk -Wall -Werror -O3   -c -o astar_maze.o astar_maze.cpp
/src/boost-trunk/boost/graph/graph_traits.hpp: In instantiation of ‘boost::vertex_property_type<grid>’:
/src/boost-trunk/boost/graph/filtered_graph.hpp:226:   instantiated from ‘boost::vertex_property_type<filtered_grid>’
/src/boost-trunk/boost/graph/properties.hpp:202:   instantiated from ‘boost::detail::vertex_property_map<filtered_grid, boost::vertex_index_t>’
/src/boost-trunk/boost/graph/properties.hpp:251:   instantiated from ‘boost::property_map<filtered_grid, boost::vertex_index_t>’
astar_maze.cpp:234:   instantiated from here
/src/boost-trunk/boost/graph/graph_traits.hpp:226: error: no type named ‘vertex_property_type’ in ‘class grid’

Which is the same error I was seeing before inside the astar_search call. 

Could you please try this code and the astar_search call with r64035 from the trunk?

-- Jeremiah Willcock
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