Revert "static function"

This reverts commit c36bdfb6

include/core/utils/graph_search.h

@@ -22,23 +22,10 @@ class GraphSearch
 
         ~GraphSearch();
 
-        FactorBasePtrList computeShortestPath(FrameBasePtr frm1,
-                                              FrameBasePtr frm2,
-                                              const unsigned int max_graph_dist = 0);
+        FactorBasePtrList shortestPath(FrameBasePtr frm1, FrameBasePtr frm2, const unsigned int max_graph_dist = 0);
 
         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
 #endif

src/utils/graph_search.cpp

@@ -13,9 +13,9 @@ GraphSearch::~GraphSearch()
 
 }
 
-FactorBasePtrList GraphSearch::computeShortestPath(FrameBasePtr frm1,
-                                                   FrameBasePtr frm2,
-                                                   const unsigned int max_graph_dist)
+FactorBasePtrList GraphSearch::shortestPath(FrameBasePtr frm1,
+                                            FrameBasePtr frm2,
+                                            const unsigned int max_graph_dist)
 {
     std::set<FrameBasePtr> frm_neigs({frm1});
     unsigned int depth = 0;
@@ -95,4 +95,3 @@ std::set<FrameBasePtr> GraphSearch::getNeighborFrames(const std::set<FrameBasePt
 
     return frm_neigs;
 }
-