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Add bound checks for bilinear interpolation #459

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Add bound checks for bilinear interpolation #459

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10 changes: 10 additions & 0 deletions grid_map_core/src/GridMap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -782,6 +782,9 @@ bool GridMap::atPositionLinearInterpolated(const std::string& layer, const Posit

getIndex(position, indices[0]);
getPosition(indices[0], point);
if (!checkIfIndexInRange(indices[0], size_)) {
return false;
}

if (position.x() >= point.x()) {
indices[1] = indices[0] + Index(-1, 0); // Second point is above first point.
Expand All @@ -790,6 +793,9 @@ bool GridMap::atPositionLinearInterpolated(const std::string& layer, const Posit
indices[1] = indices[0] + Index(+1, 0);
idxTempDir = false;
}
if (!checkIfIndexInRange(indices[1], size_)) {
return false;
}
if (position.y() >= point.y()) {
indices[2] = indices[0] + Index(0, -1); // Third point is right of first point.
if (idxTempDir) {
Expand Down Expand Up @@ -818,6 +824,10 @@ bool GridMap::atPositionLinearInterpolated(const std::string& layer, const Posit
idxShift[3] = 0;
}
}
if (!checkIfIndexInRange(indices[2], size_)) {
return false;
}

indices[3].x() = indices[1].x();
indices[3].y() = indices[2].y();

Expand Down