Uninitialize variable causes NaN in PathAlignCritic

[LeifHookedWireless]

Bug report

Required Info:

• Operating System:
  • Ubuntu 22.04 -->
• ROS2 Version:
• Version or commit hash:
  • ea1902e
• DDS implementation:
  • Cyclone DDS -->

Steps to reproduce issue

cost is created as an uninitialized tensor.

  auto && cost = xt::xtensor<float, 1>::from_shape({data.costs.shape(0)});

Some values are filled in, but some are not.

    if (num_samples > 0) {
      cost[t] = summed_path_dist / num_samples;
    }

Some of the garbage values will be NaN.

Expected behavior

Critic scoring should not generate NaN.

Actual behavior

Additional information

I believe the old version filled in 0.0 in this case, but I suspect a large non-zero value makes more sense.
Tell me what the uninitialized value should be and I'll make a PR.

[SteveMacenski]

Thanks for the report, resolved here: #3943

0 is the right answer, we don't want to assign high costs for things that are unscored. High costs = bad, not just uncomputed and that we don't want to account for in the general computation.