Merge pull request #29 from jgkamat/fix-draw

Fix segfault on draw outside of window bounds

Author: justbuchanan

.editorconfig

@@ -0,0 +1,35 @@
+# RoboCup base editorconfig
+
+# Editorconfig files are recursive, so if you want to add specifc rules for
+# your subdirectory, make a file like this in that directory.
+
+# Lots of configuration is supported, like max line length, and charset.
+
+# for more information look at http://editorconfig.org/. There are
+# plugins available for almost every text editor!
+
+# For an easy install of the sublime editorconfig package, go to:
+# PackageControl -> Install Package -> EditorConfig
+
+root = false
+
+# Unix-style newlines with a newline ending every file
+[*]
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+# Use 4 spaces for most files
+indent_style = space
+indent_size = 4
+
+
+# Use 2 spaces for travis files
+[{package.json,*.yml}]
+indent_style = space
+indent_size = 2
+
+# Makefiles are required to use tabs
+[{makefile, Makefile}]
+indent_style = tab
+indent_size = 4

src/rrt-viewer/RRTWidget.cpp

@@ -194,7 +194,7 @@ void RRTWidget::paintEvent(QPaintEvent *p) {
                 controlLength = 0.5*min( (waypoint - prevWaypoint).norm(), (nextWaypoint - waypoint).norm() );
                 controlDir = ((prevWaypoint - waypoint).normalized() - (nextWaypoint - waypoint).normalized()).normalized();
             }
-            
+
 
             Vector2f controlDiff = controlDir * controlLength;
 
@@ -344,7 +344,10 @@ void RRTWidget::mouseMoveEvent(QMouseEvent *event) {
         _goalVel = (point - _biRRT->goalState()) / VelocityDrawingMultiplier;
     } else if (_editingObstacles) {
         Vector2i gridLoc = _stateSpace->obstacleGrid().gridSquareForLocation(point);
-        _stateSpace->obstacleGrid().obstacleAt(gridLoc) = !_erasingObstacles;
+        if (gridLoc[1] >= 0 && gridLoc[1] < _stateSpace->obstacleGrid().discretizedHeight()
+                && gridLoc[0] >= 0 && gridLoc[0] < _stateSpace->obstacleGrid().discretizedWidth()) {
+            _stateSpace->obstacleGrid().obstacleAt(gridLoc) = !_erasingObstacles;
+        }
     }
 
     if (_draggingItem != DraggingNone || _editingObstacles) update();