CVE-2021-42218: A memory leak in VFRRT · Issue #839 · ompl/ompl

When I’m testing ompl, here is a memory leak occured. After positioning,we found that the error is caused by the following code in VFRRT.cpp:

In line 169.A motion object was requested with it’s constructor,and also new a state in that motion.but in line 170, the state in motion was assigned. The space applied in the constructor becomes a wild space.That’s why memory leaks.
We suggest to use the default constructor in line 169.like that:

I did my experiment on Ubuntu 16.04