Fix use-after-free in solver status callback (#177)

SleipnirGroup · Jun 19, 2024 · 992f140 · 992f140
1 parent bdebc87
commit 992f140
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/src/optimization/algorithms/SwerveDiscreteOptimal.inc b/src/optimization/algorithms/SwerveDiscreteOptimal.inc
@@ -35,12 +35,9 @@ SwerveDiscreteOptimal<Expr, Opti>::SwerveDiscreteOptimal(
     const SwervePath& path, const std::vector<size_t>& N,
     const Solution& initialGuess, int64_t handle)
     : path(path), N(N) {
-  // force the initial call
-  auto lastFrameTime = std::chrono::steady_clock::now();
-
-  opti.AddIntermediateCallback([=, this, &lastFrameTime]() {
+  opti.AddIntermediateCallback([=, this] {
     using namespace std::chrono_literals;
-
+    static auto lastFrameTime = std::chrono::steady_clock::now();
     auto now = std::chrono::steady_clock::now();
     constexpr int fps = 60;
     constexpr std::chrono::duration<double> timePerFrame{1.0 / fps};