Fixed potential memory leaks and errors

demiurge-project · Sep 21, 2017 · 773798b · 773798b
1 parent c6008b1
commit 773798b
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Showing 3 changed files with 8 additions and 4 deletions.
diff --git a/src/plugins/robots/e-puck/simulator/epuck_entity.cpp b/src/plugins/robots/e-puck/simulator/epuck_entity.cpp
@@ -167,7 +167,7 @@ CEPuckEntity::CEPuckEntity(const std::string& str_id,
       m_pcOmnidirectionalCameraEquippedEntity = new COmnidirectionalCameraEquippedEntity(this,
                                                                                          "omnidirectional_camera_0",
                                                                                          ToRadians(cAperture),
-                                                                                         CVector3(0.0f, 0.0f, OMNIDIRECTIONAL_CAMERA_ELEVATION));
+                                                                                         CVector3(0.0f, 0.0f, OMNIDIRECTIONAL_CAMERA_ELEVATION),CQuaternion().FromEulerAngles(CRadians::ZERO,CRadians::ZERO,CRadians::ZERO));
       AddComponent(*m_pcOmnidirectionalCameraEquippedEntity);
 
       /* IRCom equipped entity */

diff --git a/src/plugins/robots/e-puck/simulator/epuck_rab_equipped_entity.h b/src/plugins/robots/e-puck/simulator/epuck_rab_equipped_entity.h
@@ -46,7 +46,7 @@ class CEpuckRABEquippedEntity : public CRABEquippedEntity {
                             Real f_range,
                             SAnchor& s_anchor,
                             CEmbodiedEntity& c_entity_body,
-                            const CVector3& c_position = CVector3(),
+                            const CVector3& c_position = CVector3(0,0,0),
                             const CQuaternion& c_orientation = CQuaternion().FromEulerAngles(CRadians::ZERO,CRadians::ZERO,CRadians::ZERO));
 
 

diff --git a/src/plugins/robots/e-puck/simulator/epuck_range_and_bearing_default_sensor.cpp b/src/plugins/robots/e-puck/simulator/epuck_range_and_bearing_default_sensor.cpp
@@ -149,8 +149,12 @@ void CEPuckRABDefaultSensor::Update() {
     /*let's copy the entities in a proper data structure in a random order.*/
     for(CSet<CRABEquippedEntity*>::iterator itRABSendingEquipedEntity = setRABs.begin();
         itRABSendingEquipedEntity != setRABs.end(); ++itRABSendingEquipedEntity) {
-        size_t selectedIndex=m_pcRNG->Uniform(CRange<UInt32>(0,indexes.size()));
-        vRABentities[indexes.at(selectedIndex)]=static_cast<CEpuckRABEquippedEntity*>(*itRABSendingEquipedEntity);
+        size_t selectedIndex=indexes.size();
+	// Changed because of bug on cluster. To be fixed
+	while(selectedIndex >= indexes.size()){
+		selectedIndex=m_pcRNG->Uniform(CRange<UInt32>(0,indexes.size()));
+        }
+	vRABentities[indexes.at(selectedIndex)]=static_cast<CEpuckRABEquippedEntity*>(*itRABSendingEquipedEntity);
         indexes.erase(indexes.begin()+selectedIndex);
     }
     UInt32 unMessagesNeeded=m_uMaxNumberOfMessages;