From f4918806344e7605cf4d88330f11680c2c31508b Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Mon, 20 Feb 2023 15:40:02 +0100
Subject: [PATCH] [GraphOptimizer] Check that constraint is not empty.
---
src/graph-optimizer.cc | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/src/graph-optimizer.cc b/src/graph-optimizer.cc
index 045615b..e07bc79 100644
--- a/src/graph-optimizer.cc
+++ b/src/graph-optimizer.cc
@@ -84,8 +84,10 @@ PathVectorPtr_t GraphOptimizer::optimize(const PathVectorPtr_t& path) {
p->pathProjector(problem()->pathProjector());
p->steeringMethod(edge->steeringMethod()->copy());
p->constraints(p->steeringMethod()->constraints());
- p->constraints()->configProjector()->rightHandSideFromConfig(
- toOpt->initial());
+ if (p->constraints() && p->constraints()->configProjector()){
+ p->constraints()->configProjector()->rightHandSideFromConfig(
+ toOpt->initial());
+ }
p->pathValidation(edge->pathValidation());
pathOptimizer_ = factory_(p);
toConcat = pathOptimizer_->optimize(toOpt);
--
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