In file included from /usr/include/boost/property_map/property_map.hpp:18:0,
                 from /usr/include/boost/graph/properties.hpp:19,
                 from /usr/include/boost/graph/named_function_params.hpp:21,
                 from /usr/include/boost/graph/astar_search.hpp:21,
                 from code.cpp:7:
/usr/include/boost/concept_check.hpp: In destructor boost::Convertible<X, Y>::~Convertible() [with X = boost::readable_property_map_tag, Y = boost::read_write_property_map_tag]:
/usr/include/boost/concept_check.hpp:209:1:   instantiated from static void boost::concepts::requirement<boost::concepts::failed************ Model::************>::failed() [with Model = boost::ConvertibleConcept<boost::readable_property_map_tag, boost::read_write_property_map_tag>]
/usr/include/boost/concept_check.hpp:45:1:   instantiated from void boost::function_requires(Model*) [with Model = boost::ConvertibleConcept<boost::readable_property_map_tag, boost::read_write_property_map_tag>]
/usr/include/boost/property_map/property_map.hpp:258:7:   instantiated from void boost::ReadWritePropertyMapConcept<PMap, Key>::constraints() [with PMap = vertexindexasdmap, Key = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/concept/detail/has_constraints.hpp:42:5:   instantiated from const bool boost::concepts::not_satisfied<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >::value
/usr/include/boost/concept/detail/has_constraints.hpp:45:31:   instantiated from boost::concepts::not_satisfied<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >
/usr/include/boost/mpl/if.hpp:67:11:   instantiated from boost::mpl::if_<boost::concepts::not_satisfied<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >, boost::concepts::constraint<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >, boost::concepts::requirement<boost::concepts::failed************ boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>::************> >
/usr/include/boost/concept/detail/general.hpp:50:8:   instantiated from boost::concepts::requirement_<void (*)(boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>)>
/usr/include/boost/graph/breadth_first_search.hpp:68:1:   instantiated from void boost::breadth_first_visit(const IncidenceGraph&, typename boost::graph_traits<Graph>::vertex_descriptor, Buffer&, BFSVisitor, ColorMap) [with IncidenceGraph = gridgraph<std::vector<std::vector<bool> > >, Buffer = boost::d_ary_heap_indirect<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, 4ul, boost::vector_property_map<long unsigned int, boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap> >, boost::shared_array_property_map<double, vertexindexasdmap>, std::less<double>, std::vector<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, std::allocator<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> > >, BFSVisitor = boost::detail::astar_bfs_visitor<grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, boost::d_ary_heap_indirect<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, 4ul, boost::vector_property_map<long unsigned int, boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap> >, boost::shared_array_property_map<double, vertexindexasdmap>, std::less<double>, std::vector<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, std::allocator<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> > >, boost::dummy_property_map, boost::shared_array_property_map<double, vertexindexasdmap>, boost::shared_array_property_map<double, vertexindexasdmap>, edge_weight_map, vertexindexasdmap, boost::closed_plus<double>, std::less<double> >, ColorMap = vertexindexasdmap, typename boost::graph_traits<Graph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/graph/astar_search.hpp:260:5:   instantiated from void boost::astar_search_no_init(const VertexListGraph&, typename boost::graph_traits<VertexListGraph>::vertex_descriptor, AStarHeuristic, AStarVisitor, PredecessorMap, CostMap, DistanceMap, WeightMap, ColorMap, VertexIndexMap, CompareFunction, CombineFunction, CostInf, CostZero) [with VertexListGraph = gridgraph<std::vector<std::vector<bool> > >, AStarHeuristic = grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, AStarVisitor = grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, PredecessorMap = boost::dummy_property_map, CostMap = boost::shared_array_property_map<double, vertexindexasdmap>, DistanceMap = boost::shared_array_property_map<double, vertexindexasdmap>, WeightMap = edge_weight_map, ColorMap = vertexindexasdmap, VertexIndexMap = boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap>, CompareFunction = std::less<double>, CombineFunction = boost::closed_plus<double>, CostInf = double, CostZero = double, typename boost::graph_traits<VertexListGraph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/graph/astar_search.hpp:363:5:   instantiated from void boost::astar_search_no_init(const VertexListGraph&, typename boost::graph_traits<VertexListGraph>::vertex_descriptor, AStarHeuristic, const boost::bgl_named_params<P, T, R>&) [with VertexListGraph = gridgraph<std::vector<std::vector<bool> > >, AStarHeuristic = grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, P = grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, T = boost::graph_visitor_t, R = boost::no_property, typename boost::graph_traits<VertexListGraph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
code.cpp:288:67:   instantiated from here
/usr/include/boost/concept_check.hpp:212:13: error: conversion from boost::readable_property_map_tag to non-scalar type boost::read_write_property_map_tag requested
/usr/include/boost/concept_check.hpp: In destructor boost::Convertible<X, Y>::~Convertible() [with X = boost::readable_property_map_tag, Y = boost::writable_property_map_tag]:
/usr/include/boost/concept_check.hpp:209:1:   instantiated from static void boost::concepts::requirement<boost::concepts::failed************ Model::************>::failed() [with Model = boost::ConvertibleConcept<boost::readable_property_map_tag, boost::writable_property_map_tag>]
/usr/include/boost/concept_check.hpp:45:1:   instantiated from void boost::function_requires(Model*) [with Model = boost::ConvertibleConcept<boost::readable_property_map_tag, boost::writable_property_map_tag>]
/usr/include/boost/property_map/property_map.hpp:230:7:   instantiated from void boost::WritablePropertyMapConcept<PMap, Key>::constraints() [with PMap = vertexindexasdmap, Key = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/concept/detail/has_constraints.hpp:42:5:   instantiated from const bool boost::concepts::not_satisfied<boost::WritablePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >::value
/usr/include/boost/concept/detail/has_constraints.hpp:45:31:   instantiated from boost::concepts::not_satisfied<boost::WritablePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >
/usr/include/boost/mpl/if.hpp:67:11:   [ skipping 6 instantiation contexts ]
/usr/include/boost/mpl/if.hpp:67:11:   instantiated from boost::mpl::if_<boost::concepts::not_satisfied<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >, boost::concepts::constraint<boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> >, boost::concepts::requirement<boost::concepts::failed************ boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>::************> >
/usr/include/boost/concept/detail/general.hpp:50:8:   instantiated from boost::concepts::requirement_<void (*)(boost::ReadWritePropertyMapConcept<vertexindexasdmap, gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>)>
/usr/include/boost/graph/breadth_first_search.hpp:68:1:   instantiated from void boost::breadth_first_visit(const IncidenceGraph&, typename boost::graph_traits<Graph>::vertex_descriptor, Buffer&, BFSVisitor, ColorMap) [with IncidenceGraph = gridgraph<std::vector<std::vector<bool> > >, Buffer = boost::d_ary_heap_indirect<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, 4ul, boost::vector_property_map<long unsigned int, boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap> >, boost::shared_array_property_map<double, vertexindexasdmap>, std::less<double>, std::vector<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, std::allocator<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> > >, BFSVisitor = boost::detail::astar_bfs_visitor<grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, boost::d_ary_heap_indirect<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, 4ul, boost::vector_property_map<long unsigned int, boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap> >, boost::shared_array_property_map<double, vertexindexasdmap>, std::less<double>, std::vector<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor, std::allocator<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor> > >, boost::dummy_property_map, boost::shared_array_property_map<double, vertexindexasdmap>, boost::shared_array_property_map<double, vertexindexasdmap>, edge_weight_map, vertexindexasdmap, boost::closed_plus<double>, std::less<double> >, ColorMap = vertexindexasdmap, typename boost::graph_traits<Graph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/graph/astar_search.hpp:260:5:   instantiated from void boost::astar_search_no_init(const VertexListGraph&, typename boost::graph_traits<VertexListGraph>::vertex_descriptor, AStarHeuristic, AStarVisitor, PredecessorMap, CostMap, DistanceMap, WeightMap, ColorMap, VertexIndexMap, CompareFunction, CombineFunction, CostInf, CostZero) [with VertexListGraph = gridgraph<std::vector<std::vector<bool> > >, AStarHeuristic = grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, AStarVisitor = grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, PredecessorMap = boost::dummy_property_map, CostMap = boost::shared_array_property_map<double, vertexindexasdmap>, DistanceMap = boost::shared_array_property_map<double, vertexindexasdmap>, WeightMap = edge_weight_map, ColorMap = vertexindexasdmap, VertexIndexMap = boost::shared_array_property_map<boost::default_color_type, vertexindexasdmap>, CompareFunction = std::less<double>, CombineFunction = boost::closed_plus<double>, CostInf = double, CostZero = double, typename boost::graph_traits<VertexListGraph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
/usr/include/boost/graph/astar_search.hpp:363:5:   instantiated from void boost::astar_search_no_init(const VertexListGraph&, typename boost::graph_traits<VertexListGraph>::vertex_descriptor, AStarHeuristic, const boost::bgl_named_params<P, T, R>&) [with VertexListGraph = gridgraph<std::vector<std::vector<bool> > >, AStarHeuristic = grid_heuristic<gridgraph<std::vector<std::vector<bool> > >, float>, P = grid_visitor<gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor>, T = boost::graph_visitor_t, R = boost::no_property, typename boost::graph_traits<VertexListGraph>::vertex_descriptor = gridgraph<std::vector<std::vector<bool> > >::vertex_descriptor]
code.cpp:288:67:   instantiated from here
/usr/include/boost/concept_check.hpp:212:13: error: conversion from boost::readable_property_map_tag to non-scalar type boost::writable_property_map_tag requested
make: *** [a.out] Error 1