add check for within bounds

Author: PetervDooren

ed_sensor_integration/include/ed/kinect/fitter.h

@@ -233,11 +233,11 @@ class Fitter
 
     /**
      * @brief checkExpectedBeamThroughEntity checks if the expected center beam passes through the entity. If
-     * not: something went wrong
+     * not: throw a fitter error
      * @param model_ranges
      * @param entity
      * @param sensor_pose_xya
-     * @param expected_center_beam
+     * @param expected_center_beam expected index of the beam through the center of the object. range: any int. indices outside bounds will also throw an error.
      */
     void checkExpectedBeamThroughEntity(const std::vector<double> &model_ranges, ed::EntityConstPtr entity,
                                         const geo::Pose3D &sensor_pose_xya, const int expected_center_beam) const;

ed_sensor_integration/src/kinect/fitter.cpp

@@ -463,7 +463,7 @@ void Fitter::checkExpectedBeamThroughEntity(const std::vector<double>& model_ran
     std::vector<int> expected_identifiers(nr_data_points_, 0);
     renderEntity(entity, sensor_pose_xya, 1, expected_ranges, expected_identifiers);
 
-    if (expected_identifiers[expected_center_beam] != 1)  // expected center beam MUST contain the rendered model
+    if (expected_center_beam < 0 || expected_center_beam >= nr_data_points_ || expected_identifiers[expected_center_beam] != 1)  // expected center beam MUST contain the rendered model
         throw FitterError("Expected beam does not go through entity");
 }