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Prevent a possible segmentation fault (#4141) #4147

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merged 2 commits into from
Feb 27, 2024
Merged

Prevent a possible segmentation fault (#4141) #4147

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17b12ec
Prevent a possible segmentation fault
jonipol Feb 26, 2024
42393d3
Cleanup
jonipol Feb 27, 2024
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10 changes: 6 additions & 4 deletions nav2_smac_planner/src/analytic_expansion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,16 +179,17 @@ typename AnalyticExpansion<NodeT>::AnalyticExpansionNodes AnalyticExpansion<Node

float d = state_space->distance(from(), to());

// A move of sqrt(2) is guaranteed to be in a new cell
static const float sqrt_2 = std::sqrt(2.0f);

// If the length is too far, exit. This prevents unsafe shortcutting of paths
// into higher cost areas far out from the goal itself, let search to the work of getting
// close before the analytic expansion brings it home. This should never be smaller than
// 4-5x the minimum turning radius being used, or planning times will begin to spike.
if (d > _search_info.analytic_expansion_max_length) {
if (d > _search_info.analytic_expansion_max_length || d < sqrt_2) {
return AnalyticExpansionNodes();
}

// A move of sqrt(2) is guaranteed to be in a new cell
static const float sqrt_2 = std::sqrt(2.0f);
unsigned int num_intervals = static_cast<unsigned int>(std::floor(d / sqrt_2));

AnalyticExpansionNodes possible_nodes;
Expand Down Expand Up @@ -248,7 +249,8 @@ typename AnalyticExpansion<NodeT>::AnalyticExpansionNodes AnalyticExpansion<Node
if (!failure) {
// We found 'a' valid expansion. Now to tell if its a quality option...
const float max_cost = _search_info.analytic_expansion_max_cost;
if (*std::max_element(node_costs.begin(), node_costs.end()) > max_cost) {
auto max_cost_it = std::max_element(node_costs.begin(), node_costs.end());
if (max_cost_it != node_costs.end() && *max_cost_it > max_cost) {
// If any element is above the comfortable cost limit, check edge cases:
// (1) Check if goal is in greater than max_cost space requiring
// entering it, but only entering it on final approach, not in-and-out
Expand Down
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