From 3d49cd1a4d11852ae10746ea1a738463136a7786 Mon Sep 17 00:00:00 2001
From: Atsushi Sakai <asakai.amsl+github@gmail.com>
Date: Mon, 19 Feb 2018 12:26:44 -0800
Subject: [PATCH] add error handling

---
 PathPlanning/RRTStarDubins/rrt_star_dubins.py | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/PathPlanning/RRTStarDubins/rrt_star_dubins.py b/PathPlanning/RRTStarDubins/rrt_star_dubins.py
index 4728cbd7..fdc659e6 100644
--- a/PathPlanning/RRTStarDubins/rrt_star_dubins.py
+++ b/PathPlanning/RRTStarDubins/rrt_star_dubins.py
@@ -66,6 +66,10 @@ class RRT():
         # generate coruse
         lastIndex = self.get_best_last_index()
         #  print(lastIndex)
+
+        if lastIndex is None:
+            return None
+
         path = self.gen_final_course(lastIndex)
         return path