Fix memory corrupted size vs. prev_size (#78)

uhobeike · Oct 31, 2023 · 57e0637 · 57e0637
1 parent 944fbc9
commit 57e0637
Showing 1 changed file with 5 additions and 1 deletion.
diff --git a/ike_localization/src/mcl/resampling.cpp b/ike_localization/src/mcl/resampling.cpp
@@ -39,7 +39,11 @@ void Resampling::systematicSampling(std::vector<Particle> & particles)
   std::vector<Particle> new_particles;
   double systematic_sampling_start = calculateSystematicSamplingStart(1. / static_cast<double>(particle_size_));
   double systematic_sampling_step = calculateSystematicSamplingStep();
-  while (new_particles.size() <= particle_size_) {
+  while (true) {
+    if (new_particles.size() == particle_size_) {
+      break;
+    }
+
     if (systematic_sampling_start + step < particles_weight_sum[index]) {
       new_particles.push_back(particles[index]);
       step += systematic_sampling_step;