taking care against zero-length sensor arrays

rtv · rtv · commit 265143c7eccc · 2012-01-11T17:51:35.000-08:00
diff --git a/libstageplugin/p_ranger.cc b/libstageplugin/p_ranger.cc
@@ -71,11 +71,11 @@ void InterfaceRanger::Publish( void )
   
   if( sensors.size() == 1 ) // a laser scanner type, with one beam origin and many ranges					
     {
-      prange.ranges = &sensors[0].ranges[0];
       prange.ranges_count = sensors[0].ranges.size();
+      prange.ranges = prange.ranges_count ? &sensors[0].ranges[0] : NULL;
 
-      pintens.intensities = &sensors[0].intensities[0];
-      pintens.intensities_count = sensors[0].intensities.size();
+      pintens.intensities_count = sensors[0].intensities.size();      
+      pintens.intensities = pintens.intensities_count ? &sensors[0].intensities[0] : NULL;
     }
   else
     {  // a sonar/IR type with one range per beam origin 	

Original file line number	Diff line number	Diff line change
`@@ -71,11 +71,11 @@ void InterfaceRanger::Publish( void )`
`71`	`71`
`72`	`72`	`if( sensors.size() == 1 ) // a laser scanner type, with one beam origin and many ranges`
`73`	`73`	`{`
`74`		`- prange.ranges = &sensors[0].ranges[0];`
`75`	`74`	`prange.ranges_count = sensors[0].ranges.size();`
	`75`	`+ prange.ranges = prange.ranges_count ? &sensors[0].ranges[0] : NULL;`
`76`	`76`
`77`		`- pintens.intensities = &sensors[0].intensities[0];`
`78`		`- pintens.intensities_count = sensors[0].intensities.size();`
	`77`	`+ pintens.intensities_count = sensors[0].intensities.size();`
	`78`	`+ pintens.intensities = pintens.intensities_count ? &sensors[0].intensities[0] : NULL;`
`79`	`79`	`}`
`80`	`80`	`else`
`81`	`81`	`{ // a sonar/IR type with one range per beam origin`