add humble-navigation2

navigation2/nav2_map_server/src/map_mode.cpp

@@ -0,0 +1,52 @@
+// Copyright 2019 Rover Robotics
+//
+// 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.
+
+#include "nav2_map_server/map_mode.hpp"
+
+#include <stdexcept>
+#include <string>
+
+namespace nav2_map_server
+{
+const char * map_mode_to_string(MapMode map_mode)
+{
+  switch (map_mode) {
+    case MapMode::Trinary:
+      return "trinary";
+    case MapMode::Scale:
+      return "scale";
+    case MapMode::Raw:
+      return "raw";
+    default:
+      throw std::invalid_argument("map_mode");
+  }
+}
+
+MapMode map_mode_from_string(std::string map_mode_name)
+{
+  for (auto & c : map_mode_name) {
+    c = tolower(c);
+  }
+
+  if (map_mode_name == "scale") {
+    return MapMode::Scale;
+  } else if (map_mode_name == "raw") {
+    return MapMode::Raw;
+  } else if (map_mode_name == "trinary") {
+    return MapMode::Trinary;
+  } else {
+    throw std::invalid_argument("map_mode_name");
+  }
+}
+}  // namespace nav2_map_server