VFH stall escape bug

It seems that at some point some important variable initialization was commented out with rather drastic effects.

If you look at the snippet of code from vfh.cc (inside VFH_Class::Setup() ), you can see that 3 variables are not initialized. escapedir does the real damage here as it is meant to be either 1 or -1 (it is multipled with other variables to provide speed) but as it is not initialized it jumps the robot to some very large position when the escape routine is triggered.

386 <<<<<<< vfh.cc
387 // FIXME
388 // Allocate and intialize
389 vfh_Algorithm->Init();
390
391 // initialize some navigation state
392 rotatedir = 1;
393 escapedir = 1;
394 escaping = 0;
395
396 =======
397 >>>>>>> 1.82
398 */

To get around this bug, I have temporarily uncommented those 3 lines in my build. I am not sure what the correct fix is (esp since there is a synchronous mode) so I flagging it up here as a bug to get the right person to do a proper fix.

Thanks.