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In the path_optimizer.cpp , the funtion fxf、 fyf etc, there is so many constant , is thers any reference paper or material ？I don't know how they got here。

I try the lattice_planner ,I get error below, I found that in the SubspaceMinimization function,the FreeVariablesIndex.size() is zero,so that the WZ matrix is empty 。

lattice_planner_node: /usr/include/eigen3/Eigen/src/Core/Redux.h:413: typename Eigen::internal::traits::Scalar Eigen::DenseBase::redux(const Func&) const [with BinaryOp = Eigen::internal::scalar_max_op<double, double>; Derived = Eigen::PartialReduxExpr<const Eigen::CwiseUnaryOp<Eigen::internal::scalar_abs_op, const Eigen::Matrix<double, -1, -1> >, Eigen::internal::member_sum, 0>; typename Eigen::internal::traits::Scalar = double]: Assertion `this->rows()>0 && this->cols()>0 && "you are using an empty matrix"' failed.