yuanwenjian beifeng

# teb_optimal.cpp  

wangji beifeng l 

# block_solver.hpp

#include "g2o/stuff/timeutil.h"

#include "g2o/stuff/macros.h"

#include "g2o/stuff/misc.h"

namespace g2o {

template <typename Traits>

BlockSolver<Traits>::BlockSolver(std::unique_ptr<LinearSolverType> linearSolver)

    :   BlockSolverBase(),

        _linearSolver(std::move(linearSolver))

{

  // workspace

  _xSize=0;

  _numPoses=0;

  _numLandmarks=0;

  _sizePoses=0;

  _sizeLandmarks=0;

  _doSchur=true;

}