From a3c28e588e6cca29dbef31ffef98a0d32e273c68 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Sun, 10 Nov 2013 22:43:13 +0100
Subject: [PATCH] Check that joint exists when creating an operational point
createOpPoint command with a valid name ("waist", "left-wrist",...) not
set produced a segmentation faullt at signal recomputation due to access to
a null pointer.
---
src/sot-dynamic.cpp | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/src/sot-dynamic.cpp b/src/sot-dynamic.cpp
index bafad0e..2fa4b4d 100644
--- a/src/sot-dynamic.cpp
+++ b/src/sot-dynamic.cpp
@@ -1430,6 +1430,9 @@ void Dynamic::cmd_createOpPointSignals( const std::string& opPointName,
const std::string& jointName )
{
CjrlJoint* joint = getJointByName(jointName);
+ if (!joint) {
+ throw runtime_error ("Robot has no joint corresponding to " + jointName);
+ }
createEndeffJacobianSignal(std::string("J")+opPointName, joint);
createPositionSignal(opPointName, joint);
}
@@ -1437,18 +1440,27 @@ void Dynamic::cmd_createJacobianWorldSignal( const std::string& signalName,
const std::string& jointName )
{
CjrlJoint* joint = getJointByName(jointName);
+ if (!joint) {
+ throw runtime_error ("Robot has no joint corresponding to " + jointName);
+ }
createJacobianSignal(signalName, joint);
}
void Dynamic::cmd_createJacobianEndEffectorSignal( const std::string& signalName,
const std::string& jointName )
{
CjrlJoint* joint = getJointByName(jointName);
+ if (!joint) {
+ throw runtime_error ("Robot has no joint corresponding to " + jointName);
+ }
createEndeffJacobianSignal(signalName, joint);
}
void Dynamic::cmd_createPositionSignal( const std::string& signalName,
const std::string& jointName )
{
CjrlJoint* joint = getJointByName(jointName);
+ if (!joint) {
+ throw runtime_error ("Robot has no joint corresponding to " + jointName);
+ }
createPositionSignal(signalName, joint);
}
--
GitLab