This issue has been observed in the sparse planner version in this project specific repo. While the latest SparsePlanner differs significantly from the SparsePlanner version above, the managing of the various internal arrays that hold the points follows the same logic and so it should also suffer this same problem. The issue takes place when planning fails after adding a new point to the trajectory because the added point isn't properly removed from the internal arrays after failure.
The steps to reproduce it are as follow:
Add a new Point (unreachable or invalid) to the SparsePlanner in order to force a planning failure.
Attempt to either add or remove a point and the planner will crash with a segfault.
This issue has been observed in the sparse planner version in this project specific repo. While the latest SparsePlanner differs significantly from the SparsePlanner version above, the managing of the various internal arrays that hold the points follows the same logic and so it should also suffer this same problem. The issue takes place when planning fails after adding a new point to the trajectory because the added point isn't properly removed from the internal arrays after failure. The steps to reproduce it are as follow: