Merge pull request #515 from lmontaut/topic/hppfcl2x/fix-dynamic-aabb…

…-tree

[broadphase] Initialize NodeVecIterator

CHANGELOG.md

@@ -10,6 +10,7 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - CachedMeshLoader checks file last modification time.
 - Fix call to clear methods for {Collision,Distance}Data inside init function ([#509](https://github.com/humanoid-path-planner/hpp-fcl/pull/509))
 - CMake: fix submodule use in bindings in ([#512](https://github.com/humanoid-path-planner/hpp-fcl/pull/512))
+- Fix bug in DynamicAABBTreeCollisionManager (see [#514](https://github.com/humanoid-path-planner/hpp-fcl/issues/514)) in ([#515](https://github.com/humanoid-path-planner/hpp-fcl/pull/515))
 
 ## [2.4.0] - 2023-11-27
 

include/hpp/fcl/broadphase/detail/hierarchy_tree-inl.h

@@ -301,7 +301,8 @@ void HierarchyTree<BV>::bottomup(const NodeVecIterator lbeg,
                                  const NodeVecIterator lend) {
   NodeVecIterator lcur_end = lend;
   while (lbeg < lcur_end - 1) {
-    NodeVecIterator min_it1, min_it2;
+    NodeVecIterator min_it1 = lbeg;
+    NodeVecIterator min_it2 = lbeg + 1;
     FCL_REAL min_size = (std::numeric_limits<FCL_REAL>::max)();
     for (NodeVecIterator it1 = lbeg; it1 < lcur_end; ++it1) {
       for (NodeVecIterator it2 = it1 + 1; it2 < lcur_end; ++it2) {