Introduction

require_once 'DB/NestedSet.php';
require_once 'DB/NestedSet/Output.php';
require_once 'HTML/Menu.php';
$DatabasePointer = mysql_connect("localhost", "user", "pwd");
mysql_select_db("database", $DatabasePointer);
$dsn = 'mysql://user:pwd@localhost/database';
// needed colums in table:
$params = array(
	'id'        => 'id',
	'parent_id' => 'rootid',
	'left_id'   => 'l',
	'right_id'  => 'r',
	'order_num' => 'norder',
	'level'     => 'level',
	'name'      => 'name',
);
$nestedSet =& DB_NestedSet::factory('DB', $dsn, $params);
$nestedSet->setAttr(array(
		'node_table' => 'nested_set',
		'lock_table' => 'nested_set_locks',
		'secondarySort' => 'name',
	)
);
$parent = $nestedSet->createRootNode(array('name' =>'root 1'), false, true);
$nestedSet->createSubNode($parent, array('name' => 'node 1.1'));
$nestedSet->createSubNode($parent, array('name' =>'node 1.2'));
$data = $nestedSet->getAllNodes(true);

foreach ($data as $id => $node) {
     $data[$id]['url'] = 'index.php?nodeID=' . $node['id'];
}

$params = array(
    'structure' => $data,
    'titleField' => 'name',
    'urlField' => 'url');
$output =& DB_NestedSet_Output::factory($params, 'Menu');
$structure = $output->returnStructure();
$menu = & new HTML_Menu($structure, 'sitemap');
$menu->forceCurrentUrl($currentUrl);
$menu->show();