Fix infinitive loop in find trajectory procedure

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index a9daa9a87c19192ca9bb744f4e2ee9dbec6458ce..a6bada19b0c46407867dba054da2877a8252b096 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -647,7 +647,7 @@ std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
         if (!n || !n->parent())
                 return nodes;
         RRTNode *tmp = n;
-        while (tmp) {
+        while (tmp != this->root()) {
                 nodes.push_back(tmp);
                 tmp = tmp->parent();
         }