From 78b5ceb56ac6b698deed6f253527f5a0ca1dc6d4 Mon Sep 17 00:00:00 2001
From: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
Date: Thu, 7 Nov 2024 22:38:19 -0700
Subject: [PATCH] Fix UB in SpiralIterator::operator++

* Calling pop_back on an iterator past the end is UB

Signed-off-by: Ryan Friedman <25047695+Ryanf55@users.noreply.github.com>
---
 grid_map_core/src/iterators/SpiralIterator.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/grid_map_core/src/iterators/SpiralIterator.cpp b/grid_map_core/src/iterators/SpiralIterator.cpp
index 6e094eb9a..168fb8564 100644
--- a/grid_map_core/src/iterators/SpiralIterator.cpp
+++ b/grid_map_core/src/iterators/SpiralIterator.cpp
@@ -66,6 +66,9 @@ const Eigen::Array2i & SpiralIterator::operator*() const
 
 SpiralIterator & SpiralIterator::operator++()
 {
+  if (isPastEnd()) {
+    return *this;
+  }
   pointsRing_.pop_back();
   if (pointsRing_.empty() && !isPastEnd()) {generateRing();}
   return *this;