Ouput cost in json only if path found

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 5a142174de1babc904991b1b15d0b680cd29e60f..1520d6166fd90809e027bea7292d1485f6cebb79 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -492,7 +492,9 @@ RRTS::json(void) const
        jvo["path"][i - 1][3] = jvo["path"][i - 2][3];
        jvo["path"][i - 1][4] = jvo["path"][i - 2][4];
        // --
-       jvo["costs"][j] = this->_path.back()->cc();
+       if (this->_path.size() > 0) {
+               jvo["costs"][j] = this->_path.back()->cc();
+       }
        jvo["goal_cc"] = this->_goal.cc(); // TODO remove, use the following
        jvo["cost"] = this->path_cost();
        jvo["time"] = this->scnt();