static function

(cherry picked from commit c36bdfb6)

include/core/utils/graph_search.h

@@ -22,10 +22,23 @@ class GraphSearch
 
         ~GraphSearch();
 
-        FactorBasePtrList shortestPath(FrameBasePtr frm1, FrameBasePtr frm2, const unsigned int max_graph_dist = 0);
+        FactorBasePtrList computeShortestPath(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::shortestPath(FrameBasePtr frm1,
-                                            FrameBasePtr frm2,
-                                            const unsigned int max_graph_dist)
+FactorBasePtrList GraphSearch::computeShortestPath(FrameBasePtr frm1,
+                                                   FrameBasePtr frm2,
+                                                   const unsigned int max_graph_dist)
 {
     std::set<FrameBasePtr> frm_neigs({frm1});
     unsigned int depth = 0;
@@ -95,3 +95,4 @@ std::set<FrameBasePtr> GraphSearch::getNeighborFrames(const std::set<FrameBasePt
 
     return frm_neigs;
 }
+