Combine.hpp

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// Copyright 2026 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

 
#ifndef NAVMAP_CORE__COMBINE_HPP_
#define NAVMAP_CORE__COMBINE_HPP_
 
#include <cstddef>
#include <cstdint>
#include <limits>
#include <string>
#include <vector>
 
#include "navmap_core/NavMap.hpp"
 
namespace navmap
{

enum class CombineOp : uint8_t
{
  OVERWRITE,         
  TRUE_OVERWRITE,    
  MAX,               
  MAX_KEEP_UNKNOWN,  
  MIN,               
  ADD,               
};

struct CombineOptions
{
  std::vector<NavCelId> cells;
  double cap{std::numeric_limits<double>::infinity()};
  std::string provenance;
  std::uint8_t source_id{1};
};

std::ptrdiff_t combine_layer(
  NavMap & nm, const std::string & dst, const std::string & src, CombineOp op,
  const CombineOptions & options = {});
 
}  // namespace navmap
 
#endif  // NAVMAP_CORE__COMBINE_HPP_