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Fix undefined behaviour in Estimator::clearState() #33

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Fix undefined behaviour in Estimator::clearState() #33

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6 changes: 3 additions & 3 deletions vins_estimator/src/estimator/estimator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ class Estimator
Vector3d back_P0, last_P, last_P0;
double Headers[(WINDOW_SIZE + 1)];

IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)];
IntegrationBase *pre_integrations[(WINDOW_SIZE + 1)] = {};
Vector3d acc_0, gyr_0;

vector<double> dt_buf[(WINDOW_SIZE + 1)];
Expand Down Expand Up @@ -158,11 +158,11 @@ class Estimator

int loop_window_index;

MarginalizationInfo *last_marginalization_info;
MarginalizationInfo *last_marginalization_info = nullptr;
vector<double *> last_marginalization_parameter_blocks;

map<double, ImageFrame> all_image_frame;
IntegrationBase *tmp_pre_integration;
IntegrationBase *tmp_pre_integration = nullptr;

Eigen::Vector3d initP;
Eigen::Matrix3d initR;
Expand Down