Merge pull request #235 from josebraga/bugfix/nav-leak

DUNE/Navigation/BasicNavigation: initialize and release m_usbl_filter…
LSTS · May 5, 2022 · bd93254 · bd93254
2 parents cb3519e + 8ebddb0
commit bd93254
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/src/DUNE/Navigation/BasicNavigation.cpp b/src/DUNE/Navigation/BasicNavigation.cpp
@@ -48,9 +48,10 @@ namespace DUNE
     BasicNavigation::BasicNavigation(const std::string& name, Tasks::Context& ctx):
       Tasks::Periodic(name, ctx),
       m_active(false),
-      m_origin(NULL),
-      m_avg_heave(NULL),
-      m_avg_gps(NULL)
+      m_origin(nullptr),
+      m_avg_heave(nullptr),
+      m_avg_gps(nullptr),
+      m_usbl_filter(nullptr)
     {
       // Declare configuration parameters.
       param("Maximum Distance to Reference", m_max_dis2ref)
@@ -346,6 +347,7 @@ namespace DUNE
       Memory::clear(m_origin);
       Memory::clear(m_avg_heave);
       Memory::clear(m_avg_gps);
+      Memory::clear(m_usbl_filter);
     }
 
     void
@@ -896,7 +898,7 @@ namespace DUNE
     {
       reset();
 
-      if (m_origin == NULL)
+      if (m_origin == nullptr)
         return false;
 
       m_estate.lat = m_origin->lat;

diff --git a/src/DUNE/Navigation/BasicNavigation.hpp b/src/DUNE/Navigation/BasicNavigation.hpp
@@ -131,19 +131,19 @@ namespace DUNE
 
       //! Update internal parameters.
       virtual void
-      onUpdateParameters(void);
+      onUpdateParameters(void) override;
 
       //! Resolve entities.
       virtual void
-      onEntityResolution(void);
+      onEntityResolution(void) override;
 
       //! Initialize resources.
       virtual void
-      onResourceInitialization(void);
+      onResourceInitialization(void) override;
 
       //! Release allocated resources.
       virtual void
-      onResourceRelease(void);
+      onResourceRelease(void) override;
 
       void
       consume(const IMC::Acceleration* msg);