X-lanni
53 lines
1.4 KiB
C++
53 lines
1.4 KiB
C++
// Copyright 2019 Rover Robotics
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "nav2_map_server/map_mode.hpp"
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#include <stdexcept>
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#include <string>
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namespace nav2_map_server
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{
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const char * map_mode_to_string(MapMode map_mode)
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{
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switch (map_mode) {
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case MapMode::Trinary:
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return "trinary";
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case MapMode::Scale:
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return "scale";
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case MapMode::Raw:
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return "raw";
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default:
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throw std::invalid_argument("map_mode");
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}
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}
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MapMode map_mode_from_string(std::string map_mode_name)
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{
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for (auto & c : map_mode_name) {
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c = tolower(c);
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}
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if (map_mode_name == "scale") {
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return MapMode::Scale;
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} else if (map_mode_name == "raw") {
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return MapMode::Raw;
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} else if (map_mode_name == "trinary") {
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return MapMode::Trinary;
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} else {
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throw std::invalid_argument("map_mode_name");
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}
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}
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} // namespace nav2_map_server
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