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How to use the sitemap method in the Page Selector helper?

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When using:

$ps = Loader::helper('form/page_selector');
$ps->sitemap();


How does this work? Does it simply embed the sitemap on the page with no other functionality than seeing what pages exist in certain places, or is there a way to allow users to click on a page and be taken to the page?
 
dsw528 replied on at Permalink Reply
Not sure if I'm correct in this assumption, but does this function only include a sitemap for logged in users and/or administrators, as opposed to guests as well?