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Something like:
mydomain/index.html mydomain/pageA.html
mydomain/pageA.html mydomain/pageB.html
mydomain/pageA.html mydomain/index.html
Meaning: index has a link to pageA, pageA has a link to pageB and pageA has a link to index.
To represent the link relations for every page and every link on the page.
The one that I know of off the top of my head is Watchfire's WebQA [watchfire.com]. This used to be a product named Linkbot. IIRC, it's kind of pricey.
I think Xenu [home.snafu.de] also generates a map of valid hyperlinks as part of it's reporting mechanism too.
Also found Elsop's Linkscan [elsop.com] which has some site mapping abilities [elsop.com].
I used to use Xenu, and now use Linkbot pro (the one from Watchfire).
I think it's worth the price tag.
But what I need is a relational table of all links on the site.
I'm doing an app that calculates internal PR (as in google) for each page on the site to map out the probabilitiy of visitors hitting a page (without consideation for visual appeal of the site).
And I would really hate to spend time writing an html parser and a crawler.
Linkbot does almost exactly what I need, but it does not list the link from a page to itself (which does affect the calculations).