Commit 2f707d70 authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[croc] check if path exist to avoid crash

parent b617fef4
...@@ -3417,7 +3417,7 @@ namespace hpp { ...@@ -3417,7 +3417,7 @@ namespace hpp {
}else{ }else{
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase); res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase);
} }
if (res.success()){ if (res.success() && res.path_){
std::vector<std::size_t> ids; std::vector<std::size_t> ids;
core::PathVectorPtr_t pathVector_full = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize()); core::PathVectorPtr_t pathVector_full = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize());
pathVector_full->appendPath(res.path_); pathVector_full->appendPath(res.path_);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment