pgr_bdAstar fails when source or target vertex does not exist in the graph

[krashish8]

Describe the bug
The pgr_bdAstar function fails (AssertFailedException) when either the source vertex, or the target vertex, or both do not exist in the graph.

To Reproduce
Steps to reproduce the behavior:

Execute the following query:

SELECT * FROM pgr_bdAstar(
    'SELECT id, source, target, cost, reverse_cost, x1, y1, x2, y2
    FROM edge_table',
    2, 100
);

Here vertex with id 100 does not exist in the graph. This query gives the error:

ERROR:  AssertFailedException: has_vertex(vid) at ... include/cpp_common/pgr_base_graph.hpp:527

Expected behavior
This query is expected to return an empty set of rows:

SELECT * FROM pgr_bdAstar(
    'SELECT id, source, target, cost, reverse_cost, x1, y1, x2, y2
    FROM edge_table',
    2, 100
);

 seq | path_seq | node | edge | cost | agg_cost 
-----+----------+------+------+------+----------
(0 rows)

Specifications (please complete the following information):
Use the commands:

sampledata=# SELECT version();
                                                            version                                                            
-------------------------------------------------------------------------------------------------------------------------------
 PostgreSQL 12.4 (Ubuntu 12.4-0ubuntu0.20.04.1) on x86_64-pc-linux-gnu, compiled by gcc (Ubuntu 9.3.0-10ubuntu2) 9.3.0, 64-bit
(1 row)

sampledata=# SELECT postgis_full_version();
                                                                        postgis_full_version                                                                        
--------------------------------------------------------------------------------------------------------------------------------------------------------------------
 POSTGIS="3.0.0 r17983" [EXTENSION] PGSQL="120" GEOS="3.8.0-CAPI-1.13.1 " PROJ="6.3.1" LIBXML="2.9.4" LIBJSON="0.13.1" LIBPROTOBUF="1.3.3" WAGYU="0.4.3 (Internal)"
(1 row)

sampledata=# SELECT pgr_version();
 pgr_version 
-------------
3.2.0-dev
(1 row)