Fix [#31430] part 2: crash in iTaSC when end effector is a fixed bone. This situation was causing access to invalid index in the joint angle array although the end effector doesn't need any joint angle to compute its pause. Fixed this by changing the internal API of joint array: return pointer instead of reference so that NULL pointer can be returned instead of crashing when the index is invalid.

1 files changed, 12 insertions, 6 deletions

diff --git a/intern/itasc/kdl/jntarray.hpp b/intern/itasc/kdl/jntarray.hpp
index 8db4cd6f2b3..ece6b0bdb6b 100644
--- a/intern/itasc/kdl/jntarray.hpp
+++ b/intern/itasc/kdl/jntarray.hpp
@@ -107,24 +107,30 @@ class MyTask : public RTT::TaskContext
 		
         JntArray& operator = ( const JntArray& arg);
         /**
-         * get_item operator for the joint array, if a second value is
-         * given it should be zero, since a JntArray resembles a column.
+         * get_item operator for the joint array
          *
          *
          * @return the joint value at position i, starting from 0
          * @pre 0 != size (ie non-default constructor or resize() called)
          */
-        double operator()(unsigned int i,unsigned int j=0)const;
+        double operator[](unsigned int i) const;
         /**
-         * set_item operator, again if a second value is given it
-         *should be zero.
+         * set_item operator
          *
          * @return reference to the joint value at position i,starting
          *from zero.
          * @pre 0 != size (ie non-default constructor or resize() called)
          */
-        double& operator()(unsigned int i,unsigned int j=0);
+        double& operator[](unsigned int i);
         /**
+         * access operator for the joint array. Use pointer here to allow
+		 * access to sequential joint angles (required for ndof joints)
+         * 
+         *
+         * @return the joint value at position i, NULL if i is outside the valid range
+         */
+        double* operator()(unsigned int i);
+		/**
          * Returns the number of rows (size) of the array
          *
          */