From 1489c8ff999a60c9fea3052b8a19f3404dc5d530 Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Wed, 19 Sep 2018 13:26:57 +0200
Subject: [PATCH] Fix possible overflow in `add_iy` method

---
 base/rrtbase.cc | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 73448dd..198e7a8 100644
--- 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;
 }
-- 
2.39.2