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Bugfix: fix crash in some circumstances caused by Avoid crossing perimeters. #2271
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3 changed files with 9 additions and 3 deletions
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@ -226,6 +226,9 @@ MotionPlannerGraph::find_node(const Point &point) const
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void
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MotionPlannerGraph::shortest_path(size_t from, size_t to, Polyline* polyline)
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{
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// this prevents a crash in case for some reason we got here with an empty adjacency list
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if (this->adjacency_list.empty()) return;
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const weight_t max_weight = std::numeric_limits<weight_t>::infinity();
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std::vector<weight_t> min_distance;
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