diff --git a/E512W3DUtils.hpp b/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/E512W3DUtils.hpp
+++ b/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/examples/example1/E512W3DUtils.hpp b/examples/example1/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/examples/example1/E512W3DUtils.hpp
+++ b/examples/example1/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/examples/example2/E512W3DUtils.hpp b/examples/example2/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/examples/example2/E512W3DUtils.hpp
+++ b/examples/example2/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/examples/example3/E512W3DUtils.hpp b/examples/example3/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/examples/example3/E512W3DUtils.hpp
+++ b/examples/example3/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/examples/example4/E512W3DUtils.hpp b/examples/example4/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/examples/example4/E512W3DUtils.hpp
+++ b/examples/example4/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/multicore/examplem/E512W3DUtils.hpp b/multicore/examplem/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/multicore/examplem/E512W3DUtils.hpp
+++ b/multicore/examplem/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();
diff --git a/tilemap/exampletm/E512W3DUtils.hpp b/tilemap/exampletm/E512W3DUtils.hpp
index 2a3ae60..4bd47a5 100644
--- a/tilemap/exampletm/E512W3DUtils.hpp
+++ b/tilemap/exampletm/E512W3DUtils.hpp
@@ -357,22 +357,22 @@ class E512PriorityQueueMax {
     }
 };
 
-struct GraphEdge {
+struct E512Edge {
 public:
     int a, b, cost;
-    GraphEdge () {
+    E512Edge () {
         this->a = 0;
         this->b = 0;
         this->cost = 1000000;
     }
-    GraphEdge (int a, int b, int cost) {
+    E512Edge (int a, int b, int cost) {
         this->a = a;
         this->b = b;
         this->cost = cost;
     }
-    bool operator == (const GraphEdge& t) const { return this->a == t.a && this->b == t.b; }
+    bool operator == (const E512Edge& t) const { return this->a == t.a && this->b == t.b; }
 };
-class GraphDijkstra {
+class E512GraphDijkstra {
 private:
     class Node {
     public:
@@ -397,9 +397,9 @@ class GraphDijkstra {
     E512Array<int> rpath;
     int pathcost;
     
-    GraphDijkstra () {}
+    E512GraphDijkstra () {}
     
-    GraphDijkstra (int n, E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (int n, E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         this->n = n;
@@ -417,7 +417,7 @@ class GraphDijkstra {
         }
     }
     
-    GraphDijkstra (E512Array<GraphEdge> edges, bool undir = false) {
+    E512GraphDijkstra (E512Array<E512Edge>& edges, bool undir = false) {
         this->pathcost = 0;
         this->path.clear();
         int n = 0;
@@ -436,6 +436,20 @@ class GraphDijkstra {
         }
     }
     
+    void costUpdate (E512Array<E512Edge>& edges, bool undir = false) {
+        for (auto&& i : this->edgecost) { i.clear(); }
+        if (undir) {// undirected
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+                this->edgecost[i.b].emplace_back(i.a, i.cost);
+            }
+        } else {// directed
+            for (auto&& i : edges) {
+                this->edgecost[i.a].emplace_back(i.b, i.cost);
+            }
+        }
+    }
+    
     void calcPath (int start_i, int end_i) {
         this->path.clear();
         this->rpath.clear();