So I'm trying to start a simple waypoint system where I'll be able to specify waypoints and edges in a level editor and then construct a pre-computed solution table using the Dijkstra algorithm. I am sort of confused as to how to begin, I suppose. I've never programmed a graph or anything like that, and I want to be able to connect any node to any number of nodes. I've read a few good articles on waypoint systems (AI game programming gems and AI for game developers) but they don't mention anything about data structures. Can anyone give me a good starting point on this problem? Maybe an online tutorial that I passed over?

Boost Graph Lib documentation gives a nice overview.

My book "Programming Game AI by Example" covers how to implement what you're asking for (in C++) if you find the boost graph library a bit overwhelming.

I haven't seen anything online that explictly shows how to implement graphs in specific languages... only pseudo code, but I'm sure there will be something out there if you search hard enough.