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mobile_robotics
wolf_projects
wolf_lib
wolf
Commits
4edbae1f
Commit
4edbae1f
authored
3 years ago
by
Joan Vallvé Navarro
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Revert "static function"
This reverts commit
c36bdfb6
parent
c36bdfb6
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Pipeline
#6639
passed
3 years ago
Changes
2
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2 changed files
include/core/utils/graph_search.h
+1
-14
1 addition, 14 deletions
include/core/utils/graph_search.h
src/utils/graph_search.cpp
+3
-4
3 additions, 4 deletions
src/utils/graph_search.cpp
with
4 additions
and
18 deletions
include/core/utils/graph_search.h
+
1
−
14
View file @
4edbae1f
...
@@ -22,23 +22,10 @@ class GraphSearch
...
@@ -22,23 +22,10 @@ class GraphSearch
~
GraphSearch
();
~
GraphSearch
();
FactorBasePtrList
computeShortestPath
(
FrameBasePtr
frm1
,
FactorBasePtrList
shortestPath
(
FrameBasePtr
frm1
,
FrameBasePtr
frm2
,
const
unsigned
int
max_graph_dist
=
0
);
FrameBasePtr
frm2
,
const
unsigned
int
max_graph_dist
=
0
);
std
::
set
<
FrameBasePtr
>
getNeighborFrames
(
const
std
::
set
<
FrameBasePtr
>&
frms
);
std
::
set
<
FrameBasePtr
>
getNeighborFrames
(
const
std
::
set
<
FrameBasePtr
>&
frms
);
static
FactorBasePtrList
shortestPath
(
FrameBasePtr
frm1
,
FrameBasePtr
frm2
,
const
unsigned
int
max_graph_dist
=
0
)
{
GraphSearch
graph_search
;
return
graph_search
.
computeShortestPath
(
frm1
,
frm2
,
max_graph_dist
);
}
};
};
}
// namespace wolf
}
// namespace wolf
#endif
#endif
This diff is collapsed.
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src/utils/graph_search.cpp
+
3
−
4
View file @
4edbae1f
...
@@ -13,9 +13,9 @@ GraphSearch::~GraphSearch()
...
@@ -13,9 +13,9 @@ GraphSearch::~GraphSearch()
}
}
FactorBasePtrList
GraphSearch
::
computeS
hortestPath
(
FrameBasePtr
frm1
,
FactorBasePtrList
GraphSearch
::
s
hortestPath
(
FrameBasePtr
frm1
,
FrameBasePtr
frm2
,
FrameBasePtr
frm2
,
const
unsigned
int
max_graph_dist
)
const
unsigned
int
max_graph_dist
)
{
{
std
::
set
<
FrameBasePtr
>
frm_neigs
({
frm1
});
std
::
set
<
FrameBasePtr
>
frm_neigs
({
frm1
});
unsigned
int
depth
=
0
;
unsigned
int
depth
=
0
;
...
@@ -95,4 +95,3 @@ std::set<FrameBasePtr> GraphSearch::getNeighborFrames(const std::set<FrameBasePt
...
@@ -95,4 +95,3 @@ std::set<FrameBasePtr> GraphSearch::getNeighborFrames(const std::set<FrameBasePt
return
frm_neigs
;
return
frm_neigs
;
}
}
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