Combine.hpp File Reference

Combining one layer into another with explicit operators, unknown-aware, with provenance. More...

#include <cstddef>
#include <cstdint>
#include <limits>
#include <string>
#include <vector>
#include "navmap_core/NavMap.hpp"

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Classes
struct	CombineOptions
	Options of combine_layer(). More...

Namespaces
namespace	navmap

Enumerations
enum class	CombineOp : uint8_t {   OVERWRITE , TRUE_OVERWRITE , MAX , MAX_KEEP_UNKNOWN ,   MIN , ADD }
	How a source value s is combined into the destination value d (as costmap_2d's update modes). More...

Functions
std::ptrdiff_t	combine_layer (NavMap &nm, const std::string &dst, const std::string &src, CombineOp op, const CombineOptions &options={})
	Combine layer src into layer dst cell by cell with op.

Detailed Description

Combining one layer into another with explicit operators, unknown-aware, with provenance.

Each source (a static prior, obstacles from a sensor, a keep-out zone) keeps its own layer, and a master layer is composed from them. Clearing a source layer then never erases another source: a prior survives sensor clearing because it is never written by the sensor.

The cost convention (Costs.hpp) is that of costmap_2d / Nav2.