From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 11 Jan 2019 13:54:34 +0000 (+0100)
Subject: Fix heap-use-after-free error when T3 is used
X-Git-Tag: v0.4.0~1^2~11
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/76e3f5213c17c6b9a1f9dff5ef205f26f1a4706c

Fix heap-use-after-free error when T3 is used

As T3 shares some resources with two T2 planners `p_root_` and `p_goal_`
the problem with descructors occures.

Therefore, all the code needed for destructing T3 planner and both T2
planners (`p_root_` and `p_goal_`) is in T3 destructor method
(`T3::~T3()`) and T2 destructor (and its parent destructors) must not be
called.

If only T2 planner should be used, this patch has to be *reverted*.
---

diff --git a/CHANGELOG.md b/CHANGELOG.md
index a661d1b..d829250 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -23,6 +23,9 @@ The format is based on [Keep a Changelog][] and this project adheres to
 - Refactor `gplot` module.
 - T2 planner to include variable steer step size.
 
+### Removed
+- RRTBase planner destructor. See `base/rrtbase.cc` for more info.
+
 ## 0.3.0 - 2018-12-03
 ### Added
 - Cost distribution plot function.
diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index b9ff749..3a0158b 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -37,20 +37,23 @@ extern SDL_GLContext gc;
 
 RRTBase::~RRTBase()
 {
-        for (auto n: this->nodes_)
-                if (n != this->root_)
-                        delete n;
-        for (auto n: this->dnodes_)
-                if (n != this->root_ && n != this->goal_)
-                        delete n;
-        for (auto s: this->samples_)
-                if (s != this->goal_)
-                        delete s;
-        for (auto edges: this->rlog_)
-                for (auto e: edges)
-                        delete e;
-        delete this->root_;
-        delete this->goal_;
+// Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
+// please uncommend the following code:
+//
+//        for (auto n: this->nodes_)
+//                if (n != this->root_)
+//                        delete n;
+//        for (auto n: this->dnodes_)
+//                if (n != this->root_ && n != this->goal_)
+//                        delete n;
+//        for (auto s: this->samples_)
+//                if (s != this->goal_)
+//                        delete s;
+//        for (auto edges: this->rlog_)
+//                for (auto e: edges)
+//                        delete e;
+//        delete this->root_;
+//        delete this->goal_;
 }
 
 RRTBase::RRTBase():