motion-control: Fixed segfault

diff --git a/src/robofsm/motion-control.cc b/src/robofsm/motion-control.cc
index b414840065d53f4b748299e289cd8dc144d9b86b..564c1ce2de9b6fd76898412539ac14f548e358d0 100644 (file)
--- a/src/robofsm/motion-control.cc
+++ b/src/robofsm/motion-control.cc
@@ -404,7 +404,7 @@ void go(Trajectory *t, double append_time)
 {
        pthread_mutex_lock(&actual_trajectory_lock);
        Trajectory *old;
-        if (append_time != 0) {
+        if (actual_trajectory && append_time != 0) {
                 // trajectory only connects a new one in some specific time
                 if(!actual_trajectory->appendTrajectory(*t, append_time))
                         DBG("Can not append trajectory\n");