global-buffer-overflow on getControl()

[Rrooach]

Hello, I found a global-buffer-overflow on ompl/src/ompl/control/PlannerData.h:getControl()

Steps to reproduce

• Download the latest source code, compiled with Clang and ASAN, by exporting CFLAGS="-g -fsanitize=address" LDFLAGS="-fsanitize=address" before compiling.
• run the example code: test_planner_data_control

Expected behavior

The program finished without error.

Actual behavior

When running the first example, meet the following output:

Running 5 test cases...
=================================================================
==672751==ERROR: AddressSanitizer: global-buffer-overflow on address 0x7fa6adc771a8 at pc 0x7fa6acb37939 bp 0x7ffe17a714d0 sp 0x7ffe17a714c0
READ of size 8 at 0x7fa6adc771a8 thread T0
    #0 0x7fa6acb37938 in ompl::control::PlannerDataEdgeControl::getControl() const ompl/src/ompl/control/PlannerData.h:83
    #1 0x7fa6acb37938 in ompl::control::PlannerData::removeEdge(ompl::base::PlannerDataVertex const&, ompl::base::PlannerDataVertex const&) ompl/src/ompl/control/src/PlannerData.cpp:96
    #2 0x55c23048833d in AddRemoveVerticesAndEdges::test_method() ompl/tests/control/planner_data.cpp:464
    #3 0x55c23048de38 in AddRemoveVerticesAndEdges_invoker ompl/tests/control/planner_data.cpp:414
    #4 0x7fa6add08531  (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x27531)
    #5 0x7fa6add0e5b0 in boost::execution_monitor::catch_signals(boost::function<int ()> const&) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x2d5b0)
    #6 0x7fa6add0eaa0 in boost::execution_monitor::execute(boost::function<int ()> const&) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x2daa0)
    #7 0x7fa6add0eb5b in boost::execution_monitor::vexecute(boost::function<void ()> const&) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x2db5b)
    #8 0x7fa6add32b36 in boost::unit_test::unit_test_monitor_t::execute_and_translate(boost::function<void ()> const&, unsigned long) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x51b36)
    #9 0x7fa6add51966  (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x70966)
    #10 0x7fa6add51cee  (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x70cee)
    #11 0x7fa6add1995a in boost::unit_test::framework::run(unsigned long, bool) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x3895a)
    #12 0x7fa6add2b939 in boost::unit_test::unit_test_main(bool (*)(), int, char**) (/lib/x86_64-linux-gnu/libboost_unit_test_framework.so.1.74.0+0x4a939)
    #13 0x7fa6aba29d8f in __libc_start_call_main ../sysdeps/nptl/libc_start_call_main.h:58
    #14 0x7fa6aba29e3f in __libc_start_main_impl ../csu/libc-start.c:392
    #15 0x55c23044cff4 in _start (/data/asan_tur/crash/test_planner_data_control+0x31ff4)

0x7fa6adc771a8 is located 0 bytes to the right of global variable 'NO_EDGE' defined in ompl/src/ompl/base/src/PlannerData.cpp:54:35' (0x7fa6adc771a0) of size 8
SUMMARY: AddressSanitizer: global-buffer-overflow ompl/src/ompl/control/PlannerData.h:83 in ompl::control::PlannerDataEdgeControl::getControl() const
Shadow bytes around the buggy address:
  0x0ff555b86de0: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86df0: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e00: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e10: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e20: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
=>0x0ff555b86e30: f9 f9 f9 f9 00[f9]f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e40: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e50: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e60: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e70: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
  0x0ff555b86e80: f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9 f9
Shadow byte legend (one shadow byte represents 8 application bytes):
  Addressable:           00
  Partially addressable: 01 02 03 04 05 06 07
  Heap left redzone:       fa
  Freed heap region:       fd
  Stack left redzone:      f1
  Stack mid redzone:       f2
  Stack right redzone:     f3
  Stack after return:      f5
  Stack use after scope:   f8
  Global redzone:          f9
  Global init order:       f6
  Poisoned by user:        f7
  Container overflow:      fc
  Array cookie:            ac
  Intra object redzone:    bb
  ASan internal:           fe
  Left alloca redzone:     ca
  Right alloca redzone:    cb
==672751==ABORTING

Seems the unchecked operation auto *ctrl = const_cast<Control *>(edge.getControl()); causes this issues. Do you have any idea what really causes this problem, and can this problem be fixed?