# 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;

}