Added combine_min function

Added function to take the min of two raw readings

Raytrace/SideScan.py

@@ -23,6 +23,18 @@ def __init__(self, distances:np.ndarray, rays:list[Ray]):
         self.finite = np.isfinite(self.distances)
         self.intersection_count = np.count_nonzero(self.finite)
         np.seterr(**old_error_state)
+    def combine_min(self, other:Self) -> Self:
+        if len(self.distances) != len(other.distances):
+            raise ValueError("Cannot combine two readings of different sizes")
+        if np.any(self.origins != other.origins) or np.any(self.directions != other.directions):
+            pass # TODO: add warning
+        new_distances = self.distances.copy()
+        other_smaller = new_distances > other.distances
+        new_distances[other_smaller] = other.distances[other_smaller]
+
+        # HACK: new rays should be generated based on which distance was closer
+        new_rays = [Ray(i, j) for i, j in zip(self.directions, self.origins)] 
+        return type(self)(new_distances, new_rays)
 
     def print_summary(self) -> None:
         print('Intersections:', self.intersection_count , '/', len(self.distances))