diff --git a/alib2graph_algo/src/generate/FixedUndirectedGraph.cpp b/alib2graph_algo/src/generate/FixedUndirectedGraph.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..64c8a8a68db51b4dafc712f3a47ba0d62daff77c
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedUndirectedGraph.cpp
@@ -0,0 +1,41 @@
+// FixedUndirectedGraph.cpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "FixedUndirectedGraph.hpp"
+#include <registration/AlgoRegistration.hpp>
+
+graph::UndirectedGraph<int, ext::pair<int, int> > generate::FixedUndirectedGraph::undirected() {
+ graph::UndirectedGraph<int, ext::pair<int, int> > graph;
+
+ graph.addNode(1);
+ graph.addNode(2);
+ graph.addNode(3);
+ graph.addNode(4);
+ graph.addNode(5);
+ graph.addNode(6);
+
+ graph.addEdge(ext::make_pair(1, 2));
+ graph.addEdge(2, 3);
+ graph.addEdge(3, 4);
+ graph.addEdge(5, 1);
+
+ return graph;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+namespace {
+
+auto FixedUndirectedGraph =
+ registration::AbstractRegister<generate::FixedUndirectedGraph, graph::UndirectedGraph<int, ext::pair<int, int> > >(
+ generate::FixedUndirectedGraph::undirected);
+
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
diff --git a/alib2graph_algo/src/generate/FixedUndirectedGraph.hpp b/alib2graph_algo/src/generate/FixedUndirectedGraph.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d6f37fd0fc4ab3d3b2e23ade7a7ddea164f26a5a
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedUndirectedGraph.hpp
@@ -0,0 +1,34 @@
+// FixedUndirectedGraph.cpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef _FIXED_UNDIRECTED_GRAPH_H_
+#define _FIXED_UNDIRECTED_GRAPH_H_
+
+#include <graph/GraphClasses.hpp>
+
+namespace generate {
+
+class FixedUndirectedGraph {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+ static graph::UndirectedGraph<int, ext::pair<int, int> > undirected();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace generate
+
+#endif /* _FIXED_UNDIRECTED_GRAPH_H_ */
diff --git a/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.cpp b/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..a73985f87f82f41028333f875fa514cc8ea5c236
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.cpp
@@ -0,0 +1,49 @@
+// FixedWeightedSquareGrid8.cpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "FixedWeightedSquareGrid8.hpp"
+#include <registration/AlgoRegistration.hpp>
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+grid::WeightedSquareGrid8<int,
+ edge::WeightedEdge<ext::pair<int, int>,
+ double> > generate::FixedWeightedSquareGrid8::weighted_grid() {
+
+ grid::WeightedSquareGrid8<int, edge::WeightedEdge<ext::pair<int, int>, double>> graph(11, 11);
+
+ graph.addObstacle(2, 5);
+ graph.addObstacle(3, 5);
+ graph.addObstacle(4, 5);
+ graph.addObstacle(5, 5);
+ graph.addObstacle(6, 5);
+ graph.addObstacle(7, 5);
+ graph.addObstacle(5, 3);
+ graph.addObstacle(5, 4);
+ graph.addObstacle(5, 6);
+ graph.addObstacle(5, 7);
+ graph.addObstacle(5, 8);
+
+ return graph;
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+namespace {
+
+auto FixedWeightedSquareGrid =
+ registration::AbstractRegister<generate::FixedWeightedSquareGrid8,
+ grid::WeightedSquareGrid8<int,
+ edge::WeightedEdge<ext::pair<int, int>,
+ double>>>(
+ generate::FixedWeightedSquareGrid8::weighted_grid);
+
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
diff --git a/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.hpp b/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..5dde922d659cf7730c94f554642bd464a5726ac4
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedWeightedSquareGrid8.hpp
@@ -0,0 +1,34 @@
+// FixedWeightedSquareGrid8.hpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_FIXEDWEIGHTEDSQUAREGRID8_HPP
+#define ALIB2_FIXEDWEIGHTEDSQUAREGRID8_HPP
+
+#include <grid/GridClasses.hpp>
+
+namespace generate {
+
+class FixedWeightedSquareGrid8 {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+ static grid::WeightedSquareGrid8<int, edge::WeightedEdge<ext::pair<int, int>, double> > weighted_grid();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace generate
+
+#endif //ALIB2_FIXEDWEIGHTEDSQUAREGRID8_HPP
diff --git a/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.cpp b/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..61e3ee018021413fc6fad7a00ec5fab4bd976a2a
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.cpp
@@ -0,0 +1,44 @@
+// FixedWeightedUndirectedGraph.cpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#include "FixedWeightedUndirectedGraph.hpp"
+#include <registration/AlgoRegistration.hpp>
+
+graph::WeightedUndirectedGraph<int,
+ edge::WeightedEdge<int,
+ double> > generate::FixedWeightedUndirectedGraph::weighted_undirected() {
+ graph::WeightedUndirectedGraph<int, edge::WeightedEdge<int, double> > graph;
+
+ graph.addNode(1);
+ graph.addNode(2);
+ graph.addNode(3);
+ graph.addNode(4);
+ graph.addNode(5);
+ graph.addNode(6);
+
+ graph.addEdge(1, 2, 1);
+ graph.addEdge(2, 3, 1.5);
+ graph.addEdge(3, 4, 5);
+ graph.addEdge(5, 1, 6);
+
+ return graph;
+}
+
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+namespace {
+
+auto FixedWeightedUndirectedGraph =
+ registration::AbstractRegister<generate::FixedWeightedUndirectedGraph,
+ graph::WeightedUndirectedGraph<int, edge::WeightedEdge<int, double> > >
+ (generate::FixedWeightedUndirectedGraph::weighted_undirected);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
diff --git a/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.hpp b/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..583b8e17210ed316cfbe6525af2c01d2784ac799
--- /dev/null
+++ b/alib2graph_algo/src/generate/FixedWeightedUndirectedGraph.hpp
@@ -0,0 +1,32 @@
+// FixedWeightedUndirectedGraph.hpp
+//
+// Created on: 07. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_FIXEDWEIGHTEDUNDIRECTEDGRAPH_HPP
+#define ALIB2_FIXEDWEIGHTEDUNDIRECTEDGRAPH_HPP
+
+#include <graph/GraphClasses.hpp>
+
+namespace generate {
+
+class FixedWeightedUndirectedGraph {
+// ---------------------------------------------------------------------------------------------------------------------
+
+ public:
+ static graph::WeightedUndirectedGraph<int, edge::WeightedEdge<int, double> > weighted_undirected();
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+
+} // namespace generate
+
+#endif //ALIB2_FIXEDWEIGHTEDUNDIRECTEDGRAPH_HPP
diff --git a/alib2graph_algo/src/generate/RandomGraphFactory.cpp b/alib2graph_algo/src/generate/RandomGraphFactory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7643ac785bc15f8f77bfff3e065b05238f2da809
--- /dev/null
+++ b/alib2graph_algo/src/generate/RandomGraphFactory.cpp
@@ -0,0 +1,13 @@
+// GraphGenerator.cpp
+//
+// Created on: 19. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+namespace {
+
+}
+
diff --git a/alib2graph_algo/src/generate/RandomGraphFactory.hpp b/alib2graph_algo/src/generate/RandomGraphFactory.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..d7e02b59e116f6cff597c684f3c10aa7e18888fe
--- /dev/null
+++ b/alib2graph_algo/src/generate/RandomGraphFactory.hpp
@@ -0,0 +1,155 @@
+// GraphGenerator.hpp
+//
+// Created on: 19. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_GRAPHGENERATOR_HPP
+#define ALIB2_GRAPHGENERATOR_HPP
+
+#include <alib/pair>
+#include <alib/vector>
+#include <alib/tuple>
+#include <random>
+
+namespace generate {
+
+class RandomGraphFactory {
+// ---------------------------------------------------------------------------------------------------------------------
+ public:
+ template<typename TGraph>
+ static
+ ext::tuple<TGraph, typename TGraph::node_type, typename TGraph::node_type>
+ randomGraph(unsigned long max_nodes, unsigned long branching_factor);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+ template<typename TGraph>
+ static
+ ext::tuple<TGraph, typename TGraph::node_type, typename TGraph::node_type>
+ randomWeightedGraph(unsigned long max_nodes,
+ unsigned long branching_factor,
+ long max_weight);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TGraph>
+ext::tuple<TGraph, typename TGraph::node_type, typename TGraph::node_type>
+RandomGraphFactory::randomGraph(unsigned long max_nodes,
+ unsigned long branching_factor) {
+ using node_type = typename TGraph::node_type;
+
+ // Seed with a real random value, if available
+ std::random_device r;
+ std::default_random_engine e1(r());
+
+ // Create distribution
+ std::uniform_int_distribution<unsigned long> number_of_nodes(1, max_nodes); // Generate number of nodes
+ std::uniform_int_distribution<unsigned long>
+ number_of_edges(1, branching_factor); // Generate number of edges for each node
+
+ unsigned long node_cnt = number_of_nodes(e1);
+
+ std::uniform_int_distribution<node_type> node_id(0, node_cnt * 10); // Generate indexes of nodes
+ std::uniform_int_distribution<long> random_node(0, node_cnt - 1); // Generate random index in vector of nodes
+
+ TGraph graph;
+
+ // Add nodes
+ ext::vector<node_type> nodes;
+
+ // Generate start and goal node
+ node_type start(node_id(e1));
+ node_type goal(node_id(e1));
+ nodes.push_back(start);
+ graph.addNode(start);
+ nodes.push_back(goal);
+ graph.addNode(goal);
+
+ // Generate nodes
+ for (unsigned long i = 0; i < node_cnt; ++i) {
+ node_type node(node_id(e1));
+ graph.addNode(node);
+ nodes.push_back(node);
+ }
+
+ // Generate edges
+ for (const auto &v : nodes) {
+ unsigned long cnt = number_of_edges(e1); // Generate number of edges for current v
+ for (unsigned long i = 0; i < cnt; ++i) {
+ long w = random_node(e1); // Get target v
+ graph.addEdge(v, nodes.at(w));
+ }
+ }
+
+ return ext::make_tuple(graph, start, goal);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+template<typename TGraph>
+ext::tuple<TGraph, typename TGraph::node_type, typename TGraph::node_type>
+RandomGraphFactory::randomWeightedGraph(
+ unsigned long max_nodes,
+ unsigned long branching_factor,
+ long max_weight) {
+ using node_type = typename TGraph::node_type;
+ using weight_type = typename TGraph::edge_type::weight_type;
+
+ // Seed with a real random value, if available
+ std::random_device r;
+ std::default_random_engine e1(r());
+
+ // Create distribution
+ std::uniform_int_distribution<unsigned long> number_of_nodes(1, max_nodes); // Generate number of nodes
+ std::uniform_int_distribution<unsigned long>
+ number_of_edges(1, branching_factor); // Generate number of edges for each node
+ std::uniform_real_distribution<weight_type> edge_weight(1, max_weight); // Generate edge weight
+
+ unsigned long node_cnt = number_of_nodes(e1);
+
+ std::uniform_int_distribution<node_type> node_id(0, node_cnt * 10); // Generate indexes of nodes
+ std::uniform_int_distribution<long> random_node(0, node_cnt - 1); // Generate random index in vector of nodes
+
+ TGraph graph;
+
+ // Add nodes
+ ext::vector<node_type> nodes;
+
+ // Generate start and goal node
+ node_type start(node_id(e1));
+ node_type goal(node_id(e1));
+ nodes.push_back(start);
+ graph.addNode(start);
+ nodes.push_back(goal);
+ graph.addNode(goal);
+
+ // Generate nodes
+ for (unsigned long i = 0; i < node_cnt; ++i) {
+ node_type node(node_id(e1));
+ graph.addNode(node);
+ nodes.push_back(node);
+ }
+
+ // Generate edges
+ for (const auto &v : nodes) {
+ unsigned long cnt = number_of_edges(e1); // Generate number of edges for current v
+ for (unsigned long i = 0; i < cnt; ++i) {
+ long w = random_node(e1); // Get target v
+ graph.addEdge(v, nodes.at(w), edge_weight(e1));
+ }
+ }
+
+ return ext::make_tuple(graph, start, goal);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+} // namespace generate
+#endif //ALIB2_GRAPHGENERATOR_HPP
diff --git a/alib2graph_algo/src/generate/RandomGridFactory.cpp b/alib2graph_algo/src/generate/RandomGridFactory.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..e097333161fdb39e6c6cf51843077b04320e5cd2
--- /dev/null
+++ b/alib2graph_algo/src/generate/RandomGridFactory.cpp
@@ -0,0 +1,12 @@
+// RandomGridFactory.cpp
+//
+// Created on: 29. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+namespace {
+
+}
diff --git a/alib2graph_algo/src/generate/RandomGridFactory.hpp b/alib2graph_algo/src/generate/RandomGridFactory.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..4efc4182873edc37052b22a0b06e862ba790b506
--- /dev/null
+++ b/alib2graph_algo/src/generate/RandomGridFactory.hpp
@@ -0,0 +1,77 @@
+// RandomGridFactory.hpp
+//
+// Created on: 29. 03. 2018
+// Author: Jan Uhlik
+// Modified by:
+//
+// Copyright (c) 2017 Czech Technical University in Prague | Faculty of Information Technology. All rights reserved.
+// Git repository: https://gitlab.fit.cvut.cz/algorithms-library-toolkit/automata-library
+
+#ifndef ALIB2_RANDOMGRIDFACTORY_HPP
+#define ALIB2_RANDOMGRIDFACTORY_HPP
+
+#include <alib/pair>
+#include <alib/tuple>
+#include <alib/vector>
+#include <random>
+
+namespace generate {
+
+class RandomGridFactory {
+// ---------------------------------------------------------------------------------------------------------------------
+ public:
+
+ template<typename TGrid>
+ static
+ ext::tuple<TGrid, typename TGrid::node_type, typename TGrid::node_type>
+ randomGrid(unsigned long height, unsigned long widht, unsigned long max_obstacles);
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+};
+
+// =====================================================================================================================
+
+template<typename TGrid>
+ext::tuple<TGrid, typename TGrid::node_type, typename TGrid::node_type>
+RandomGridFactory::randomGrid(unsigned long height,
+ unsigned long width,
+ unsigned long max_obstacles) {
+ using coordinate_type = typename TGrid::coordinate_type;
+ using node_type = typename TGrid::node_type;
+
+ // Seed with a real random value, if available
+ std::random_device r;
+ std::default_random_engine e1(r());
+
+ // Create distribution
+ std::uniform_int_distribution<unsigned long> number_of_obstacles(0, max_obstacles); // Generate number of nodes
+ std::uniform_int_distribution<coordinate_type> random_height(0, height - 1); // Generate height coordinate
+ std::uniform_int_distribution<coordinate_type> random_width(0, width - 1); // Generate width coordinate
+ unsigned long obstacle_cnt = number_of_obstacles(e1);
+
+ TGrid grid(height, width);
+
+ // Add nodes
+ ext::vector<node_type> obstacles;
+
+ // Generate start and goal node
+ node_type start(random_height(e1), random_width(e1));
+ node_type goal(random_height(e1), random_width(e1));
+ obstacles.push_back(start);
+ obstacles.push_back(goal);
+
+ // Generate obstacles
+ for (unsigned long i = 0; i < obstacle_cnt; ++i) {
+ node_type obstacle(random_height(e1), random_width(e1));
+ obstacles.push_back(obstacle);
+ grid.addObstacle(std::move(obstacle));
+ }
+
+ return ext::make_tuple(grid, start, goal);
+}
+
+// ---------------------------------------------------------------------------------------------------------------------
+
+} // namespace generate
+#endif //ALIB2_RANDOMGRIDFACTORY_HPP