[rtc/AutoBalancer/GaitGenerator] Fix invalid access for step_count_li…

…st (fkanehiro#1154)
snozawa · Jun 19, 2017 · f4a38b5 · f4a38b5
1 parent 5e22e9a
commit f4a38b5
Showing 1 changed file with 7 additions and 2 deletions.
diff --git a/rtc/AutoBalancer/GaitGenerator.cpp b/rtc/AutoBalancer/GaitGenerator.cpp
@@ -210,8 +210,13 @@ namespace rats
  refzmp_count--;
  } else {
  refzmp_index++;
- refzmp_count = one_step_count = step_count_list[refzmp_index];
- thp.set_one_step_count(one_step_count);
+ // Check length of step_count_list and refzmp_index
+ // The case if !(refzmp_index <= step_count_list.size()-1) is finalizing of gait_generator.
+ // If finalizing, this can be neglected.
+ if (refzmp_index <= step_count_list.size()-1) {
+ refzmp_count = one_step_count = step_count_list[refzmp_index];
+ thp.set_one_step_count(one_step_count);
+ }
  //std::cerr << "fs " << fs_index << "/" << fnl.size() << " rf " << refzmp_index << "/" << refzmp_cur_list.size() << " flg " << std::endl;
  }
  };