Plot samples only if there are some samples

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index a26a9888f0959a766e8b280422ff290084afee23..5fb97aea16284fc2c88286dc046c678093b59ba9 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -252,11 +252,13 @@ bool RRTBase::glplot()
         glVertex2f(GLVERTEX(this->goal_));
         glEnd();
         // Plot last sample
-        glPointSize(8);
-        glBegin(GL_POINTS);
-        glColor3f(0, 1, 0);
-        glVertex2f(GLVERTEX(this->samples_.back()));
-        glEnd();
+        if (this->samples_.size() > 0) {
+                glPointSize(8);
+                glBegin(GL_POINTS);
+                glColor3f(0, 1, 0);
+                glVertex2f(GLVERTEX(this->samples_.back()));
+                glEnd();
+        }
         // Plot nodes
         std::vector<RRTNode *> s; // DFS stack
         std::vector<RRTNode *> r; // reset visited_