From 1c6c943b3b3fc13f9340352f52327eb7e376b898 Mon Sep 17 00:00:00 2001
From: Simon Schmeisser <simon.schmeisser@isys-vision.de>
Date: Wed, 24 Oct 2018 11:46:06 +0200
Subject: [PATCH 1/2] use helper function strToDouble for locale independent
 parsing of colors

---
 urdf_model/include/urdf_model/color.h | 9 +++------
 1 file changed, 3 insertions(+), 6 deletions(-)

diff --git a/urdf_model/include/urdf_model/color.h b/urdf_model/include/urdf_model/color.h
index 505d9a6..46915a5 100644
--- a/urdf_model/include/urdf_model/color.h
+++ b/urdf_model/include/urdf_model/color.h
@@ -73,13 +73,10 @@ class Color
       {
         try
         {
-          rgba.push_back(std::stof(pieces[i]));
+          rgba.push_back(strToDouble(pieces[i].c_str()));
         }
-        catch (std::invalid_argument &/*e*/) {
-          return false;
-        }
-        catch (std::out_of_range &/*e*/) {
-          return false;
+        catch (std::runtime_error &/*e*/) {
+          throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)");
         }
       }
     }

From 955edc34a6e6b6f7760b444b1ab5627227b581a1 Mon Sep 17 00:00:00 2001
From: "Simon Schmeisser (isys vision)" <simon.schmeisser@isys-vision.de>
Date: Mon, 29 Oct 2018 12:11:58 +0100
Subject: [PATCH 2/2] Add range check for color components being within [0, 1]

this solves the potential undefined behaviour in implicit conversion if a color component should
be greater than the maximum float but smaller than the maximum double and allows us
to reuse strToDouble safely
---
 urdf_model/include/urdf_model/color.h | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/urdf_model/include/urdf_model/color.h b/urdf_model/include/urdf_model/color.h
index 46915a5..fec8ae0 100644
--- a/urdf_model/include/urdf_model/color.h
+++ b/urdf_model/include/urdf_model/color.h
@@ -73,7 +73,10 @@ class Color
       {
         try
         {
-          rgba.push_back(strToDouble(pieces[i].c_str()));
+          double piece = strToDouble(pieces[i].c_str());
+          if ((piece < 0) || (piece > 1))
+            throw ParseError("Component [" + pieces[i] + "] is outside the valid range for colors [0, 1]");
+          rgba.push_back(piece);
         }
         catch (std::runtime_error &/*e*/) {
           throw ParseError("Unable to parse component [" + pieces[i] + "] to a double (while parsing a color value)");