Init variables, check for valid file pointers before using, provide valid return values

plugins/configurationcache/configurationcachetree.cpp

@@ -828,6 +828,9 @@ int CacheTree::SaveCache(std::string filename)
 
     FILE* pfile;
     pfile = fopen(_fulldirname.c_str(),"wb");
+    if( pfile == NULL) {
+        return 0;
+    }
 
     fwrite(&_statedof, sizeof(_statedof), 1, pfile);
     fwrite(&_weights[0], sizeof(_weights[0])*_weights.size(), 1, pfile);

plugins/configurationcache/configurationcachetree.h

@@ -259,6 +259,9 @@ class CacheTree
     int GetNumKnownNodes();
 
     /// \brief save cache to disk
+    ///
+    /// \param[in] filename the file name where to save the cache
+    /// \return 1 if everything went fine and 0 if there was a trouble opening the file
     int SaveCache(std::string filename);
 
     /// \brief load cache from disk

plugins/rplanners/ParabolicPathSmooth/ParabolicRamp.cpp

@@ -1796,12 +1796,16 @@ bool ParabolicRampND::SolveMinTime(const Vector& amax,const Vector& vmax)
                 SaveRamp("ParabolicRampND_SolveMinAccel_failure.dat",ramps[i].x0,ramps[i].dx0,ramps[i].x1,ramps[i].dx1,-1,vmax[i],endTime);
                 PARABOLIC_RAMP_PLOG("Saving to failed_ramps.txt\n");
                 FILE* f=fopen("failed_ramps.txt","w+");
-                fprintf(f,"MinAccel T=%.15e, vmax=%.15e\n",endTime,vmax[i]);
-                fprintf(f,"x0=%.15e, dx0=%.15e\n",ramps[i].x0,ramps[i].dx0);
-                fprintf(f,"x1=%.15e, dx1=%.15e\n",ramps[i].x1,ramps[i].dx1);
-                fprintf(f,"MinTime solution v=%.15e, t1=%.15e, t2=%.15e, T=%.15e\n",ramps[i].v,ramps[i].tswitch1,ramps[i].tswitch2,ramps[i].ttotal);
-                fprintf(f,"\n");
-                fclose(f);
+                if( f != NULL ) {
+                    fprintf(f,"MinAccel T=%.15e, vmax=%.15e\n",endTime,vmax[i]);
+                    fprintf(f,"x0=%.15e, dx0=%.15e\n",ramps[i].x0,ramps[i].dx0);
+                    fprintf(f,"x1=%.15e, dx1=%.15e\n",ramps[i].x1,ramps[i].dx1);
+                    fprintf(f,"MinTime solution v=%.15e, t1=%.15e, t2=%.15e, T=%.15e\n",ramps[i].v,ramps[i].tswitch1,ramps[i].tswitch2,ramps[i].ttotal);
+                    fprintf(f,"\n");
+                    fclose(f);
+                } else {
+                    PARABOLIC_RAMP_PLOG("Failed to open failed_ramps.txt\n");
+                }
                 return false;
             }
             if(Abs(ramps[i].a1) > EpsilonA+amax[i] || Abs(ramps[i].a2) > EpsilonA+amax[i] || Abs(ramps[i].v) > EpsilonV+vmax[i]) {

plugins/rplanners/ParabolicPathSmooth/ppramp.cpp

@@ -123,7 +123,7 @@ bool PPRamp::SolveMinTime2(Real amax,Real timeLowerBound)
     }
     _a2 = -_a1;
     PARABOLIC_RAMP_ASSERT(ttotal >= timeLowerBound);
-    Real ts1,ts2;
+    Real ts1 = -1.0, ts2 = -1.0;
     int res = CalcSwitchTimes(_a1,ts1,ts2);
     PARABOLIC_RAMP_ASSERT(res > 0);
     if(res == 1) {
@@ -195,7 +195,7 @@ bool PPRamp::SolveFixedTime(Real amax,Real endTime)
     Real c2 = 0.25 * endTime * endTime;
     Real c1 = x0 - x1 + 0.5*endTime*(dx0+dx1);
     Real c0 = -0.25*(dx0-dx1)*(dx0-dx1);
-    Real aroots[2];
+    Real aroots[2] = { 0.0, 0.0 };
     int numroots = SolveQuadratic(c2, c1, c0, aroots[0], aroots[1]);
     if( numroots ==2 && Abs(aroots[0]) > Abs(aroots[1]) ) {
         swap(aroots[0],aroots[1]);
@@ -352,7 +352,7 @@ Real PPRamp::CalcTotalTime(Real a) const
 
 int PPRamp::CalcTotalTimes(Real a,Real& t1,Real& t2) const
 {
-    Real ts1,ts2;
+    Real ts1 = -1.0, ts2 = -1.0;
     int res=CalcSwitchTimes(a,ts1,ts2);
     if(res == 0) return res;
     else if(res == 1) {
@@ -429,7 +429,7 @@ int PPRamp::CalcSwitchTimes(Real a,Real& t1,Real& t2) const
 
 Real PPRamp::CalcSwitchTime(Real a) const
 {
-    Real t1 = 0.0, t2 = 0.0;
+    Real t1 = -1.0, t2 = -1.0;
     int res = CalcSwitchTimes(a,t1,t2);
     if(res == 0) {
         return -1;
@@ -478,7 +478,7 @@ Real PPRamp::CalcMinAccel(Real endTime,Real sign,Real& switchTime) const
     Real a = -(dx1 - dx0)/endTime;
     Real b = (2.0*(dx0+dx1)+4.0*(x0-x1)/endTime);
     Real c = (dx1 - dx0)*endTime;
-    Real rat1,rat2;
+    Real rat1 = 0.0, rat2 = 0.0;
     int res=SolveQuadratic(a,b,c,rat1,rat2);
     Real accel1 = (dx1-dx0)/rat1;
     Real accel2 = (dx1-dx0)/rat2;
@@ -607,7 +607,7 @@ Real PPRamp::CalcMinAccel(Real endTime,Real sign,Real& switchTime) const
        b = b/Abs(dx1-dx0);
        c = -Abs(dx1-dx0)/endTime;
        }
-       Real accel1,accel2;
+       Real accel1 = 0.0, accel2 = 0.0;
        int res=SolveQuadratic(a,b,c,accel1,accel2);
        //remove negative accelerations
        if(res >= 1 && accel1 < 0) {

plugins/rplanners/piecewisepolynomials/polynomialchecker.cpp

@@ -346,7 +346,7 @@ PolynomialCheckReturn PolynomialChecker::CheckChunk(const Chunk& c, const std::v
     bool bHasVelocityLimits = vmVect.size() == ndof;
     bool bHasAccelerationLimits = amVect.size() == ndof;
     bool bHasJerkLimits = jmVect.size() == ndof;
-    PolynomialCheckReturn ret;
+    PolynomialCheckReturn ret = PCR_Normal;
     for( size_t idof = 0; idof < ndof; ++idof ) {
         if( bHasVelocityLimits ) {
             vm = vmVect[idof];

src/libopenrave-core/colladaparser/colladareader.cpp

@@ -296,7 +296,7 @@ class ColladaReader : public daeErrorHandler
         if (find(_vOpenRAVESchemeAliases.begin(), _vOpenRAVESchemeAliases.end(), urioriginal.scheme()) !=
             _vOpenRAVESchemeAliases.end()) {
             if (urioriginal.path().empty()) {
-                return nullptr;
+                return std::string();
             }
             // remove first slash because we need relative file
             uriresolved = "file:";

src/libopenrave/planningutils.cpp

@@ -4198,7 +4198,7 @@ int DynamicsCollisionConstraint::Check(const std::vector<dReal>& q0, const std::
                         BOOST_ASSERT(0);
                     } // end switch maskinterpolation
                     bool bFoundTimeInstant = false;
-                    dReal root;
+                    dReal root = 1234567890;
                     if( numroots > 0 ) {
                         std::sort(_vrawroots.begin(), _vrawroots.begin() + numroots);
                         for( int iroot = 0; iroot < numroots; ++iroot ) {