From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 24 Jun 2019 15:14:55 +0000 (+0200)
Subject: Fix indexing overflow
X-Git-Tag: v0.7.0~5^2~6
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/bac6f7ab59f4becbd78a5bb1418dd47f6fde3297

Fix indexing overflow
---

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 97e4a5f..563fc04 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -1046,6 +1046,8 @@ int RRTBase::XI(RRTNode *n)
 {
         float step = (this->HMAX - this->HMIN) / IXSIZE;
         float index = (int) (floor(n->x() - this->HMIN) / step);
+        if (index < 0) index = 0;
+        if (index >= IXSIZE) index = IXSIZE - 1;
         return index;
 }
 
@@ -1053,6 +1055,8 @@ int RRTBase::YI(RRTNode *n)
 {
         float step = (this->VMAX - this->VMIN) / IYSIZE;
         float index = (int) (floor(n->y() - this->VMIN) / step);
+        if (index < 0) index = 0;
+        if (index >= IYSIZE) index = IYSIZE - 1;
         return index;
 }