From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 20 Jun 2019 11:29:33 +0000 (+0200)
Subject: Protect usage of `n` when it is `nullptr`
X-Git-Tag: v0.7.0~6^2~9
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/c828fb6c04d760766c7a3668c57cf5bddadbda4c

Protect usage of `n` when it is `nullptr`
---

diff --git a/decision_control/slotplanner.cc b/decision_control/slotplanner.cc
index 8ac19e8..3f903aa 100644
--- a/decision_control/slotplanner.cc
+++ b/decision_control/slotplanner.cc
@@ -827,14 +827,14 @@ struct SamplingInfo ParallelSlot::getSamplingInfo()
 {
         struct SamplingInfo si;
         RRTNode *n = this->getMidd();
+        if (n == nullptr)
+                return si;
         BicycleCar *bc = new BicycleCar(n->x(), n->y(), n->h());
         RRTNode *cc;
         if (this->slotSide() == LEFT)
                 cc = bc->ccl();
         else
                 cc = bc->ccr();
-        if (n == nullptr)
-                return si;
         if (this->slotType() == PARALLEL) {
                 BicycleCar *nbc = bc->move(cc, this->slotHeading() - n->h());
                 si.x0 = nbc->x();