TestOptimizer: add
TestOptimizer: add
Optimizer: fix issue #50. TestOptimizer: add new tests
utest: minor fix
Merge branch 'hotfix-50'
Merge branch 'hotfix-50' into develop
examples/slam: Fix issue #53
Merge branch 'hotfix-53' into develop
Merge remote-tracking branch 'origin/develop' into heap2

Conflicts:
	tests/utest.cpp = Solved