bugfix:angle_compensate_nodes will be out of range if angle >= 359.25

Slamtec · Oct 8, 2019 · 4b6ea54 · 4b6ea54
1 parent 95d935f
commit 4b6ea54
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/src/node.cpp b/src/node.cpp
@@ -334,7 +334,11 @@ int main(int argc, char * argv[]) {
                             int angle_value = (int)(angle * angle_compensate_multiple);
                             if ((angle_value - angle_compensate_offset) < 0) angle_compensate_offset = angle_value;
                             for (j = 0; j < angle_compensate_multiple; j++) {
-                                angle_compensate_nodes[angle_value-angle_compensate_offset+j] = nodes[i];
+
+                                int angle_compensate_nodes_index = angle_value-angle_compensate_offset+j;
+                                if(angle_compensate_nodes_index >= angle_compensate_nodes_count)
+                                    angle_compensate_nodes_index = angle_compensate_nodes_count-1;
+                                angle_compensate_nodes[angle_compensate_nodes_index] = nodes[i];
                             }
                         }
                     }