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Prevent segfault in PyKDL when asking for nonexisting segment of chain #228

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Prevent segfault in PyKDL when asking for nonexisting segment of chain #228

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3663023
(PyKDL) Prevent segfault when asking for nonexisting segment in chain
DriesDM Feb 20, 2020
6eb2246
Merge branch 'master' into fix/prevent-pykdl-segfault
DriesDM Mar 13, 2020
7fdc4e4
Merge remote-tracking branch 'origin/master' into fix/prevent-pykdl-s…
MatthijsBurgh May 19, 2020
0816b90
Merge remote-tracking branch 'origin/master' into fix/prevent-pykdl-s…
MatthijsBurgh May 19, 2020
4c9b0af
Merge remote-tracking branch 'origin/master' into fix/prevent-pykdl-s…
MatthijsBurgh Aug 7, 2020
8698e70
(PyKDL) throw index error in getSegment
MatthijsBurgh Aug 7, 2020
114bad4
(PyKDL)(sip) fix getSegments
MatthijsBurgh Aug 7, 2020
ceb57a0
Merge remote-tracking branch 'origin/master' into fix/prevent-pykdl-s…
MatthijsBurgh Aug 7, 2020
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11 changes: 9 additions & 2 deletions python_orocos_kdl/PyKDL/kinfam.sip
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Original file line number Diff line number Diff line change
Expand Up @@ -251,8 +251,15 @@ public:

unsigned int getNrOfJoints()const;
unsigned int getNrOfSegments()const;

const Segment& getSegment(unsigned int nr)const /Factory/;

const Segment* getSegment(unsigned int nr)const /Factory/;
%MethodCode
if (a0 < 0 || a0 >= (unsigned int)sipCpp->getNrOfSegments()) {
PyErr_SetString(PyExc_IndexError, "Chain index out of range");
return 0;
}
sipRes = &(sipCpp->getSegment(a0));
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Actually I am not sure if this is valid in SIP. The /Factory/ annotation indicates that the returned pointer is owned by Python, but actually the returned pointer must not be deleted independently. I wonder whether that annotation was actually correct even for the original version of the method.

Why did you change the return type from const Segment& to const Segment*?

Could anybody who is more proficient with SIP could jump in (@smits)?

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I did not mean to change the return type, that must have slipped in while I was testing, good catch.

%End

};

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