From 2a2f81a48b4c964069c3e9b231d5fe8fd057087d Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Fri, 5 Oct 2018 16:05:54 +0200
Subject: [PATCH] Return false if nn() in next() fails

---
 decision_control/rrtplanner.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 3a3770f..f3d112d 100644
--- 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;
-- 
2.39.2