A memory leak in VFRRT

[bromiao123]

When I’m testing ompl, here is a memory leak occured. After positioning,we found that the error is caused by the following code in VFRRT.cpp:

In line 169.A motion object was requested with it’s constructor,and also new a state in that motion.but in line 170, the state in motion was assigned. The space applied in the constructor becomes a wild space.That’s why memory leaks.
We suggest to use the default constructor in line 169.like that:

I did my experiment on Ubuntu 16.04

[mamoll]

Thanks for tracking down this leak!

[carnil]

This issue appears to have CVE-2021-42218 assigned.