From c36bdfb6bf6f766858db12c1eb81925a0850ea68 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Vallv=C3=A9=20Navarro?= <jvallve@iri.upc.edu>
Date: Tue, 20 Jul 2021 18:17:00 +0200
Subject: [PATCH] static function
---
include/core/utils/graph_search.h | 15 ++++++++++++++-
src/utils/graph_search.cpp | 7 ++++---
2 files changed, 18 insertions(+), 4 deletions(-)
diff --git a/include/core/utils/graph_search.h b/include/core/utils/graph_search.h
index 5551dead4..cf14ff844 100644
--- a/include/core/utils/graph_search.h
+++ b/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
diff --git a/src/utils/graph_search.cpp b/src/utils/graph_search.cpp
index 9c3684e51..f1959a029 100644
--- a/src/utils/graph_search.cpp
+++ b/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;
}
+
--
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