diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index cf14ff844d981922848645774799f2b18655e06f..5551dead4ef15a2bd518717a3a6bdc56b8be40d6 100644
--- a/include/core/utils/graph_search.h
+++ b/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
diff --git a/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index f1959a029f8b17b97612e047a6d3a6926c18ac3b..9c3684e5110e6526c33bae41db31b9e2ef5771cb 100644
--- a/src/utils/graph_search.cpp
+++ b/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;
 }
-