loos like your collapsable panel uses onclick events to open the panels:
<li><a href="#CollapsiblePanel23" onclick="cpg2.openPanel(0);">Map</a></li>
add another onlick event to resize the map:
<li><a href="#CollapsiblePanel23" onclick="cpg2.openPanel(0);window.setTimeout('google.maps.event.trigger(map,\'resize\');wagmp_map_1_obj.obj.setCenter(wagmp_map_1_obj.points[0])',30);">Map</a></li>
to open the panel from your address links, add the same "cpg2.openPanel(0);" code to the onclick event of the links.