Resolve "Graph search"

Closes #404 (closed)

include/core/utils/graph_search.h

+#ifndef GRAPH_SEARCH_H
+#define GRAPH_SEARCH_H
+
+#include "core/common/wolf.h"
+#include "core/frame/frame_base.h"
+#include "core/factor/factor_base.h"
+
+#include <map>
+
+namespace wolf
+{
+
+class GraphSearch
+{
+    private:
+
+        std::map<FrameBasePtr, std::pair<FactorBasePtr,FrameBasePtr>> parents_;
+
+    public:
+
+        GraphSearch();
+
+        ~GraphSearch();
+
+        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