BoundingConstraint1 segfaults on optimization

[tunan1111]

Hi，
I've been using BoundingConstraint1 from the gtsam library lately 。
Here's my code ，code is from here（thanks to the author）：

class Pose3Bounds : public gtsam::BoundingConstraint1<Eigen::Vector3d> {
 public:
  using shared_ptr = gtsam::NonlinearFactor::shared_ptr;

  Pose3Bounds(
      gtsam::Key key, size_t idx, double threshold, bool is_greater, double mu = 1000.0)
      : gtsam::BoundingConstraint1<Eigen::Vector3d>(key, threshold, is_greater, mu),
        idx_(idx),
        threshold_(threshold),
        is_greater_(is_greater),
        mu_(mu) {}

  double value(const Eigen::Vector3d& x,
                GtsamJacobianType H = JACOBIAN_DEFAULT) const override {
    if (H) {
        gtsam::Matrix D =
          gtsam::Matrix::Zero(1, 3);
      D(0, idx_) = 1.0;
      *H = D;
    }
    return x(idx_);
  }

  shared_ptr clone() const override {
    return shared_ptr(new Pose3Bounds(front(), idx_, threshold_, is_greater_, mu_));
  }

 private:
  size_t idx_;
  double threshold_;
  bool is_greater_;
  double mu_;
};

//This part is pseudocode
	std::shared_ptr<gtsam::NonlinearFactorGraph> graph_factor_;
	std::shared_ptr<gtsam::Values> initial_values_;
	std::shared_ptr<gtsam::ISAM2> optimizer_imu_gps_;

graph_factor_->emplace_shared<Pose3Bounds>(V(*correction_count), 1,-0.4, true);
optimizer_->update(*graph_factor_, *initial_values_);

I have a three-dimensional vector and Key is V。
graph_factor_->emplace_shared<Pose3Bounds>(V(*correction_count), 1,-0.4, true); optimizer_->update(*graph_factor_, *initial_values_);
Within a loop, there is constantly new data and then optimized。

if don't use BoundingConstraint1 , this optimizer_->update(） can run smoothly and optimize successfully。 Once BoundingConstraint1 is used, the program will be segfaults on the second execution of the optimizer_->update() session。

this issue like at line [268] of file testBoundingConstraint.cpp 。

OS [e.g. Ubuntu 18.04, Ubuntu 20.04]