hybird_astar 算法一用就崩

[gabencui001]

[Raiden49]

看一下log

[gabencui001]

创建OMPL的SE2状态空间时崩溃。 hread 1 "plan" received signal SIGSEGV, Segmentation fault.
0x00007ffff65043f6 in std::ostream::sentry::sentry(std::ostream&) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
(gdb) where
#0 0x00007ffff65043f6 in std::ostream::sentry::sentry(std::ostream&) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#1 0x00007ffff6504a78 in std::basic_ostream<char, std::char_traits >& std::__ostream_insert<char, std::char_traits >(std::basic_ostream<char, std::char_traits >&, char const*, long) ()
from /usr/lib/x86_64-linux-gnu/libstdc++.so.6
#2 0x00007ffff69b8ac7 in ompl::base::CompoundStateSpace::printState(ompl::base::State const*, std::ostream&) const ()
from /usr/lib/x86_64-linux-gnu/libompl.so.12
#3 0x00007ffff7b11560 in ompl::base::ScopedStateompl::base::SE2StateSpace::ScopedState(std::shared_ptrompl::base::StateSpace) ()
from /home/open_items/planner1_ws/devel/lib/libplanner.so
#4 0x00007ffff7b0d165 in global_planner::HybridAstar::ComputeH(global_planner::HybridNode const&, global_planner::HybridNode const&) ()
from /home/open_items/planner1_ws/devel/lib/libplanner.so
#5 0x00007ffff7b0ebe6 in global_planner::HybridAstar::Search(global_planner::Point3d const&, global_planner::Point3d const&) ()
from /home/open_items/planner1_ws/devel/lib/libplanner.so
#6 0x00007ffff7b0f9a6 in global_planner::HybridAstar::GetPlan(std::vector<std::---Type to continue, or q to quit---q

[Raiden49]

Segmentation fault，我没复现出这个bug，可以检查一下ComputeH函数里传入的坐标是否合理正确，如果有更多log会更方便debug一些