Return false if nn() in next() fails

[hubacji1/iamcar.git] / decision_control / rrtplanner.cc

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 3a3770fc76f63dace3fc5c9307d52ae18fb0ae15..f3d112df87dfe7c391d0c2952f1594af95e99e42 100644 (file)
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -453,6 +453,8 @@ bool T2::next()
 #else
         RRTNode *nn = this->nn(this->nodes(), rs, this->cost);
 #endif
+        if (!nn)
+                return false;
         RRTNode *pn = nn;
         std::vector<RRTNode *> nvs;
         std::vector<RRTNode *> newly_added;