commit 601b23a39b0a8e708ed6602ee305d57962af4435
author James Kuszmaul <jabukuszmaul+collab@gmail.com> Tue Oct 08 23:32:33 2024 -0700
committer James Kuszmaul <jabukuszmaul+collab@gmail.com> Wed Oct 16 20:36:34 2024 -0700
tree 90de41ae590c17da7592b36a757e2570a2f173f3
parent 43504bfb1be364e58acf569235dec524fa32de54

Fix nullptr dereference in dlqr()

Change-Id: Ia415b462328186f7423366498df92d892aad10bb
Signed-off-by: James Kuszmaul <jabukuszmaul+collab@gmail.com>

frc971/control_loops/dlqr.h

diff --git a/frc971/control_loops/dlqr.h b/frc971/control_loops/dlqr.h
index 57aa88b..d31f492 100644
--- a/frc971/control_loops/dlqr.h
+++ b/frc971/control_loops/dlqr.h
@@ -41,7 +41,9 @@
          ::Eigen::Matrix<double, kM, kN> *K,
          ::Eigen::Matrix<double, kN, kN> *S) {
   *K = ::Eigen::Matrix<double, kM, kN>::Zero();
-  *S = ::Eigen::Matrix<double, kN, kN>::Zero();
+  if (S != nullptr) {
+    *S = ::Eigen::Matrix<double, kN, kN>::Zero();
+  }
   // Discrete (not continuous)
   char DICO = 'D';
   // B and R are provided instead of G.