From 4edbae1fe5d392b15cb4487dc7514cf1ff2c64fb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Mon, 26 Jul 2021 16:29:01 +0200
Subject: [PATCH] Revert "static function"

This reverts commit c36bdfb6bf6f766858db12c1eb81925a0850ea68
---
 include/core/utils/graph_search.h | 15 +--------------
 src/utils/graph_search.cpp        |  7 +++----
 2 files changed, 4 insertions(+), 18 deletions(-)

diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index cf14ff844..5551dead4 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 f1959a029..9c3684e51 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;
 }
-
-- 
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