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UB in TrackingPidLocalPlanner::projectedCollisionCost() - partially uninitialized object used #143

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lewie-donckers opened this issue Mar 16, 2022 · 0 comments
Open

UB in TrackingPidLocalPlanner::projectedCollisionCost() - partially uninitialized object used #143

lewie-donckers opened this issue Mar 16, 2022 · 0 comments
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@lewie-donckers
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In TrackingPidLocalPlanner::projectedCollisionCost() a local variable x_step_tf is created but only it's origin component is initialized; it's basis component is left uninitialized.

Later this variable is used in computations which is undefined behavior.

This could be (one of) the reasons our tests sometimes fail.
@lewie-donckers lewie-donckers added the bug Something isn't working label Mar 16, 2022
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