block_solver.hpp

namespace g2o {

template <typename Traits>

BlockSolver<Traits>::BlockSolver(LinearSolverType* linearSolver) :

  BlockSolverBase(),

  _linearSolver(linearSolver)

{

  // workspace

  _Hpp=0;

  _Hll=0;

  _Hpl=0;

  _HplCCS = 0;

  _HschurTransposedCCS = 0;

  _Hschur=0;

  _DInvSchur=0;

  _coefficients=0;

  _bschur = 0;

  _xSize=0;

  _numPoses=0;

  _numLandmarks=0;

  _sizePoses=0;

  _sizeLandmarks=0;

  _doSchur=true;

}