[ playerstage-Bugs-3158339 ] ODEJoint::GetBodyForce/GetBodyTorque/GetFeedback Segfault

Bugs item #3158339, was opened at 2011-01-14 18:07
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Category: gazebo
Group: trunk
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: https://www.google.com/accounts ()
Assigned to: Nathan Koenig (natepak)
Summary: ODEJoint::GetBodyForce/GetBodyTorque/GetFeedback Segfault

Initial Comment:
ODEJoint::GetBodyTorque, ODEJoint::GetBodyForce, ODEJoint::GetFeedback,
 all depend on a pointer which is unchecked. If ODEJoint::Load does not
 pass in a node in which "provideFeedback" is true, that pointer will be
 NULL and cause a segfault on a call to any of the mentioned functions.

 To fix this a guard could be added in each function that either checks the
 "provideFeedback" parameter, or the value of the pointer before completing
 the request.

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