Segmentation Fault on trying to access the vertex state of SPARS

[JACOBIN-SCTCS]

Segmentation Fault on trying to access the vertex state of SPARS

[zkingston]

Seems like this is an issue with SPARS, where the vertex at index 0 in the sparse roadmap is null. If you check the edges that exist in the roadmap, you'll see that index 0 is never used. I would just throw a check if state_map[index] is null before accessing state data, e.g.,

    auto state_map = boost::get(og::SPARS::vertex_state_t(), graph);

    auto vertices = boost::vertices(graph);
    for (auto s = vertices.first; s != vertices.second; ++s)
    {
        if (not state_map[*s])
            continue;

        std::cout << *s << "=(" << state_map[*s]->as<ob::CompoundState>()->as<ob::DiscreteStateSpace::StateType>(0)->value
                  << "," << state_map[*s]->as<ob::CompoundState>()->as<ob::DiscreteStateSpace::StateType>(1)->value
                  << ")" << std::endl;
    }

[JACOBIN-SCTCS]

@zkingston you are right. Thank you. Closing the issue