Fix possible overflow in `add_iy` method

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 73448dddc009d267cdb5966050eff8b66e50793b..198e7a83341184efa61ca6aae4817569d6776598 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -185,6 +185,10 @@ bool RRTBase::link_obstacles(
 bool RRTBase::add_iy(RRTNode *n)
 {
         int i = floor(n->y() / IYSTEP);
+        if (i < 0)
+                i = 0;
+        if (i >= IYSIZE)
+                i = IYSIZE - 1;
         this->iy_[i].push_back(n);
         return true;
 }