From 38b0f300b0909196543ad48bb86426c61c38852f Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Thu, 5 Jul 2018 09:45:14 +0200
Subject: [PATCH] Fix find trajectory return if no path

---
 base/rrtbase.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 29b3cec..779c19d 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -208,6 +208,8 @@ bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 std::vector<RRTNode *> RRTBase::findt()
 {
         std::vector<RRTNode *> nodes;
+        if (!this->goal_->parent())
+                return nodes;
         RRTNode *tmp = this->goal_;
         while (tmp != this->root_) {
                 nodes.push_back(tmp);
-- 
2.39.2