Resolve "Graph search"

Closes #404 (closed)

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