Simplify.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__SIMPLIFY_HPP_
#define NAVMAP_CORE__SIMPLIFY_HPP_
 
#include <cstddef>
#include <limits>
#include <string>
#include <vector>
 
#include "navmap_core/NavMap.hpp"
 
namespace navmap
{

struct SimplifyParams
{
  float max_error{0.02f};
  float max_edge_length{std::numeric_limits<float>::infinity()};
  float min_quality{0.15f};
  float max_normal_change{30.0f};
  std::vector<std::string> layers;
  std::vector<std::string> ignore_layers;
};

struct SimplifyStats
{
  std::size_t navcels_before{0}, navcels_after{0};
  std::size_t vertices_before{0}, vertices_after{0};
};

SimplifyStats simplify(NavMap & nm, const SimplifyParams & params = {});
 
}  // namespace navmap
 
#endif  // NAVMAP_CORE__SIMPLIFY_HPP_