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Fix a double free issue when start == goal #45

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Merged
justinhj merged 1 commit into from
Sep 30, 2026
Merged

Fix a double free issue when start == goal #45

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2 changes: 1 addition & 1 deletion stlastar.h
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Original file line number Diff line number Diff line change
Expand Up @@ -553,7 +553,7 @@ class AStarSearch {
// routine once the search ends
void FreeUnusedNodes() {
for (auto n : m_NodeMap) {
if (!n->child) {
if (n != m_Start && !n->child) {
FreeNode(n);
}
}
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21 changes: 21 additions & 0 deletions tests.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -335,4 +335,25 @@ TEST_CASE("Reopen Node From Closed List When Cheaper Path Found") {
astar.EnsureMemoryFreed();
}

TEST_CASE("Start Node Equals Goal Node") {
AStarSearch<MapSearchNode> astar;
MapSearchNode start(1, 1);
MapSearchNode goal(1, 1);

astar.SetStartAndGoalStates(start, goal);

unsigned int state = astar.SearchStep();
CHECK(state == AStarSearch<MapSearchNode>::SEARCH_STATE_SUCCEEDED);

MapSearchNode* solStart = astar.GetSolutionStart();
REQUIRE(solStart != nullptr);
CHECK(solStart->x == 1);
CHECK(solStart->y == 1);
CHECK(astar.GetSolutionNext() == nullptr);
CHECK(astar.GetSolutionCost() == 0.0f);

astar.FreeSolutionNodes();
astar.EnsureMemoryFreed();
}


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