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nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity
Apache License 2.0
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UB in `TrackingPidLocalPlanner::projectedCollisionCost()` - partially uninitialized object used #143

Open lewie-donckers opened 2 years ago

lewie-donckers commented 2 years ago

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.