From 0d94884883ab88729bc552cd999af0f8ffe6c215 Mon Sep 17 00:00:00 2001
From: Daniel Dugas <exodaniel@gmail.com>
Date: Wed, 12 Sep 2018 14:48:39 +0200
Subject: [PATCH] Enforce check to avoid memory corruption

---
 scanmatcher/scanmatcher.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/scanmatcher/scanmatcher.cpp b/scanmatcher/scanmatcher.cpp
index 8f2c3ac..d57e96c 100644
--- a/scanmatcher/scanmatcher.cpp
+++ b/scanmatcher/scanmatcher.cpp
@@ -560,7 +560,11 @@ void ScanMatcher::setLaserParameters
 	/*if (m_laserAngles)
 		delete [] m_laserAngles;
 	*/
-	assert(beams<LASER_MAXBEAMS);
+	if(beams>LASER_MAXBEAMS) {
+    cerr << "Number of beams (" << beams << ") is larger than maximum supported value (" <<
+      LASER_MAXBEAMS << ")." << endl;
+    exit(-1);
+  }
 	m_laserPose=lpose;
 	m_laserBeams=beams;
 	//m_laserAngles=new double[beams];