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Fix seg fault #5501

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Merged
tonynajjar merged 2 commits into from
Sep 3, 2025
Merged

Fix seg fault #5501

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c5bb0d4
Fix segmentation fault
tonynajjar Sep 1, 2025
aac763b
fix linting
tonynajjar Sep 3, 2025
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5 changes: 3 additions & 2 deletions nav2_smac_planner/src/node_lattice.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -230,7 +230,8 @@ bool NodeLattice::isNodeValid(
// Check primitive end pose
// Convert grid quantization of primitives to radians, then collision checker quantization
static const double bin_size = 2.0 * M_PI / collision_checker->getPrecomputedAngles().size();
const double & angle = motion_table.getAngleFromBin(this->pose.theta) / bin_size;
const double angle = std::fmod(motion_table.getAngleFromBin(this->pose.theta),
2.0 * M_PI) / bin_size;
if (collision_checker->inCollision(
this->pose.x, this->pose.y, angle /*bin in collision checker*/, traverse_unknown))
{
Expand Down Expand Up @@ -269,7 +270,7 @@ bool NodeLattice::isNodeValid(
if (is_backwards) {
prim_pose._theta = std::fmod(it->_theta + M_PI, 2.0 * M_PI);
} else {
prim_pose._theta = it->_theta;
prim_pose._theta = std::fmod(it->_theta, 2.0 * M_PI);
}
if (collision_checker->inCollision(
prim_pose._x,
Expand Down
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