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Fix double delete in PILZ CIRC generation #1229

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May 10, 2022
Merged

Fix double delete in PILZ CIRC generation #1229

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21 changes: 3 additions & 18 deletions moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,6 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromCenter(const KDL::Fram
}
catch (KDL::Error_MotionPlanning&)
{
delete rot_interpo; // in case we could not construct the Path object, avoid
// a memory leak
KDL::epsilon = old_kdl_epsilon;
throw; // and pass the exception on to the caller
}
Expand Down Expand Up @@ -121,22 +119,9 @@ std::unique_ptr<KDL::Path> PathCircleGenerator::circleFromInterim(const KDL::Fra
}

KDL::RotationalInterpolation* rot_interpo = new KDL::RotationalInterpolation_SingleAxis();
try
{
return std::unique_ptr<KDL::Path>(
std::make_unique<KDL::Path_Circle>(start_pose, center_point, kdl_aux_point, goal_pose.M, alpha, rot_interpo,
eqradius, true /* take ownership of RotationalInterpolation */));
}
catch (KDL::Error_MotionPlanning&) // LCOV_EXCL_START // The cases where
// KDL would throw are already handled
// above,
// we keep these lines to be safe
{
delete rot_interpo; // in case we could not construct the Path object, avoid
// a memory leak
throw; // and pass the exception on to the caller
// LCOV_EXCL_STOP
}
return std::unique_ptr<KDL::Path>(
std::make_unique<KDL::Path_Circle>(start_pose, center_point, kdl_aux_point, goal_pose.M, alpha, rot_interpo,
eqradius, true /* take ownership of RotationalInterpolation */));
}

double PathCircleGenerator::cosines(const double a, const double b, const double c)
Expand Down