I've implemented a contraction-hierarchy routing system, which now works well, and I now need to add the stall-on-demand technique to speed it up; as explained here it can reduce the search space dramatically: over 25-fold in the example given.
However, I'm finding it hard to understand the few explanations I have found on the web, and the sample code given in the cited document lacks context. I'd be grateful if anyone can point me to fuller and more carefully explained examples and code.
So far I've found some code which is reasonably easy to understand in Christian Vetter's MoNav project. So that partially answers my own question. But more information, and a step by step explanation, would still be useful.