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[wpilibc] Fix a use-after-free in DifferentialDrivetrainSim (#2741)

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In the second constructor, a new LinearSystem is created and set to
m_plant. This takes a const ref though, so it's storing a reference to a
temporary object. After the constructor finishes, m_plant points to an
invalid object. When Update() is called, it will crash with a
segmentation fault.

This patch fixes the use-after-free by making m_plant a LinearSystem
value type. The first constructor will generate a copy, but that only
happens once.
This commit is contained in:
Tyler Veness
2020-09-27 00:02:04 -07:00
committed by GitHub
parent 5479948bd4
commit 651319589c
1 changed files with 1 additions and 1 deletions
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wpilibc/src/main/native/include/frc/simulation/DifferentialDrivetrainSim.h
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@@ -203,7 +203,7 @@ class DifferentialDrivetrainSim {
}
private:
const LinearSystem<2, 2, 2>& m_plant;
LinearSystem<2, 2, 2> m_plant;
units::meter_t m_rb;
units::meter_t m_wheelRadius;