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; } - -- GitLab