feature: Dead Reckoning dis 7 implementation

.gitignore

@@ -4,4 +4,5 @@
 /nbproject/
 *.orig
 *.rej
-.vscode
+.vscode
+.idea

pom.xml

@@ -137,7 +137,7 @@
             <plugin>
                 <groupId>org.apache.maven.plugins</groupId>
                 <artifactId>maven-javadoc-plugin</artifactId>
-                <version>3.7.0</version>
+                <version>3.10.0</version>
                 <configuration>
                     <source>8</source> <!-- workaround https://stackoverflow.com/a/60322437/52176 -->
                     <additionalparam>-Xdoclint:none</additionalparam>
@@ -153,7 +153,7 @@
                     <plugin>
                         <groupId>org.apache.maven.plugins</groupId>
                         <artifactId>maven-javadoc-plugin</artifactId>
-                        <version>3.7.0</version>
+                        <version>3.10.0</version>
                         <executions>
                             <execution>
                                 <id>attach-javadocs</id>
@@ -179,7 +179,7 @@
                     <plugin>
                         <groupId>org.apache.maven.plugins</groupId>
                         <artifactId>maven-gpg-plugin</artifactId>
-                        <version>3.2.4</version>
+                        <version>3.2.7</version>
                         <executions>
                             <execution>
                                 <id>sign-artifacts</id>

src/main/java/edu/nps/moves/deadreckoning/Dis6DeadReckoner.java

@@ -0,0 +1,97 @@
+package edu.nps.moves.deadreckoning;
+
+import edu.nps.moves.dis.ArticulationParameter;
+import edu.nps.moves.dis.EntityStatePdu;
+import edu.nps.moves.dis7.Orientation;
+import edu.nps.moves.dis7.Vector3Double;
+import edu.nps.moves.dis7.Vector3Float;
+
+/**
+ * Dis6DeadReckoner
+ * <br>
+ * DIS v6 Dead Reckoning algorithm
+ * @author Alessio Matricardi
+ */
+public final class Dis6DeadReckoner extends AbstractDeadReckoner<EntityStatePdu> {
+    @Override
+    protected DeadReckoningEntity convertToDeadReckoningEntity(EntityStatePdu entityStatePdu) {
+        DeadReckoningEntity toReturn = new DeadReckoningEntity();
+        // timestamp
+        toReturn.setTimestamp(entityStatePdu.getTimestamp());
+        // dead reckoning algorithm
+        toReturn.setDeadReckoningAlgorithm(entityStatePdu.getDeadReckoningParameters().getDeadReckoningAlgorithm());
+        // entity location
+        toReturn.setLocation(new Vector3Double());
+        toReturn.getLocation().setX(entityStatePdu.getEntityLocation().getX());
+        toReturn.getLocation().setY(entityStatePdu.getEntityLocation().getY());
+        toReturn.getLocation().setZ(entityStatePdu.getEntityLocation().getZ());
+        // entity orientation
+        toReturn.setEntityOrientation(new Orientation());
+        toReturn.getEntityOrientation().setPhi(entityStatePdu.getEntityOrientation().getPhi());
+        toReturn.getEntityOrientation().setTheta(entityStatePdu.getEntityOrientation().getTheta());
+        toReturn.getEntityOrientation().setPsi(entityStatePdu.getEntityOrientation().getPsi());
+        // entity linear velocity
+        toReturn.setLinearVelocity(new Vector3Float());
+        toReturn.getLinearVelocity().setX(entityStatePdu.getEntityLinearVelocity().getX());
+        toReturn.getLinearVelocity().setY(entityStatePdu.getEntityLinearVelocity().getY());
+        toReturn.getLinearVelocity().setZ(entityStatePdu.getEntityLinearVelocity().getZ());
+        // entity linear acceleration (from dead reckoning parameters)
+        toReturn.setLinearAcceleration(new Vector3Float());
+        toReturn.getLinearAcceleration().setX(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getX());
+        toReturn.getLinearAcceleration().setY(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getY());
+        toReturn.getLinearAcceleration().setZ(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getZ());
+        // entity angular velocity (from dead reckoning parameters)
+        toReturn.setAngularVelocity(new Vector3Float());
+        toReturn.getAngularVelocity().setX(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getX());
+        toReturn.getAngularVelocity().setY(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getY());
+        toReturn.getAngularVelocity().setZ(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getZ());
+        return toReturn;
+    }
+
+    @Override
+    protected void copyParametersToEntityState(DeadReckoningEntity source, EntityStatePdu target) {
+        // timestamp
+        target.setTimestamp(source.getTimestamp());
+        // entity location
+        target.getEntityLocation().setX(source.getLocation().getX());
+        target.getEntityLocation().setY(source.getLocation().getY());
+        target.getEntityLocation().setZ(source.getLocation().getZ());
+        // entity orientation
+        target.getEntityOrientation().setPhi(source.getEntityOrientation().getPhi());
+        target.getEntityOrientation().setTheta(source.getEntityOrientation().getTheta());
+        target.getEntityOrientation().setPsi(source.getEntityOrientation().getPsi());
+        // entity linear velocity
+        target.getEntityLinearVelocity().setX(source.getLinearVelocity().getX());
+        target.getEntityLinearVelocity().setY(source.getLinearVelocity().getY());
+        target.getEntityLinearVelocity().setZ(source.getLinearVelocity().getZ());
+        // entity linear acceleration (from dead reckoning parameters)
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setX(source.getLinearAcceleration().getX());
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setY(source.getLinearAcceleration().getY());
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setZ(source.getLinearAcceleration().getZ());
+    }
+
+    @Override
+    protected void processArticulatedParameters(EntityStatePdu entityStatePdu, double deltaTime) {
+        // Process articulation parameters
+        for (ArticulationParameter thisRate : entityStatePdu.getArticulationParameters()) { // update articulation parameter values
+            if (thisRate.getParameterType() % 2 == 0) {  // found a rate (even type)
+                // Search for the corresponding art. part value parameter
+                for (ArticulationParameter thisVal : entityStatePdu.getArticulationParameters()) {
+                    if (thisVal.getParameterType() == thisRate.getParameterType() - 1 &&
+                            thisVal.getPartAttachedTo() == thisRate.getPartAttachedTo()) {  // found part's value
+                        thisVal.setParameterValue(
+                                getParameterValue(
+                                        deltaTime,
+                                        thisVal.getParameterType() % 32,
+                                        thisVal.getParameterValue(),
+                                        thisVal.getParameterValueFirstSubfield(),
+                                        thisRate.getParameterValue()
+                                )
+                        );
+                        break;  // exit the value search loop
+                    }  // end of found the corresponding value
+                }  // end value search
+            }  // end of found a rate 
+        }  // end update articulation parameter values
+    }
+}

src/main/java/edu/nps/moves/deadreckoning/Dis7DeadReckoner.java

@@ -0,0 +1,108 @@
+package edu.nps.moves.deadreckoning;
+
+import edu.nps.moves.dis7.ArticulatedParts;
+import edu.nps.moves.dis7.EntityStatePdu;
+import edu.nps.moves.dis7.Orientation;
+import edu.nps.moves.dis7.VariableParameter;
+import edu.nps.moves.dis7.Vector3Double;
+import edu.nps.moves.dis7.Vector3Float;
+
+/**
+ * Dis7DeadReckoner
+ * <br>
+ * DIS v7 Dead Reckoning algorithm
+ * @author Alessio Matricardi
+ */
+public final class Dis7DeadReckoner extends AbstractDeadReckoner<EntityStatePdu> {
+    @Override
+    protected DeadReckoningEntity convertToDeadReckoningEntity(EntityStatePdu entityStatePdu) {
+        DeadReckoningEntity toReturn = new DeadReckoningEntity();
+        // timestamp
+        toReturn.setTimestamp(entityStatePdu.getTimestamp());
+        // dead reckoning algorithm
+        toReturn.setDeadReckoningAlgorithm(entityStatePdu.getDeadReckoningParameters().getDeadReckoningAlgorithm());
+        // entity location
+        toReturn.setLocation(new Vector3Double());
+        toReturn.getLocation().setX(entityStatePdu.getEntityLocation().getX());
+        toReturn.getLocation().setY(entityStatePdu.getEntityLocation().getY());
+        toReturn.getLocation().setZ(entityStatePdu.getEntityLocation().getZ());
+        // entity orientation
+        toReturn.setEntityOrientation(new Orientation());
+        toReturn.getEntityOrientation().setPhi(entityStatePdu.getEntityOrientation().getPhi());
+        toReturn.getEntityOrientation().setTheta(entityStatePdu.getEntityOrientation().getTheta());
+        toReturn.getEntityOrientation().setPsi(entityStatePdu.getEntityOrientation().getPsi());
+        // entity linear velocity
+        toReturn.setLinearVelocity(new Vector3Float());
+        toReturn.getLinearVelocity().setX(entityStatePdu.getEntityLinearVelocity().getX());
+        toReturn.getLinearVelocity().setY(entityStatePdu.getEntityLinearVelocity().getY());
+        toReturn.getLinearVelocity().setZ(entityStatePdu.getEntityLinearVelocity().getZ());
+        // entity linear acceleration (from dead reckoning parameters)
+        toReturn.setLinearAcceleration(new Vector3Float());
+        toReturn.getLinearAcceleration().setX(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getX());
+        toReturn.getLinearAcceleration().setY(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getY());
+        toReturn.getLinearAcceleration().setZ(entityStatePdu.getDeadReckoningParameters().getEntityLinearAcceleration().getZ());
+        // entity angular velocity (from dead reckoning parameters)
+        toReturn.setAngularVelocity(new Vector3Float());
+        toReturn.getAngularVelocity().setX(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getX());
+        toReturn.getAngularVelocity().setY(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getY());
+        toReturn.getAngularVelocity().setZ(entityStatePdu.getDeadReckoningParameters().getEntityAngularVelocity().getZ());
+        return toReturn;
+    }
+
+    @Override
+    protected void copyParametersToEntityState(DeadReckoningEntity source, EntityStatePdu target) {
+        // timestamp
+        target.setTimestamp(source.getTimestamp());
+        // entity location
+        target.getEntityLocation().setX(source.getLocation().getX());
+        target.getEntityLocation().setY(source.getLocation().getY());
+        target.getEntityLocation().setZ(source.getLocation().getZ());
+        // entity orientation
+        target.getEntityOrientation().setPhi(source.getEntityOrientation().getPhi());
+        target.getEntityOrientation().setTheta(source.getEntityOrientation().getTheta());
+        target.getEntityOrientation().setPsi(source.getEntityOrientation().getPsi());
+        // entity linear velocity
+        target.getEntityLinearVelocity().setX(source.getLinearVelocity().getX());
+        target.getEntityLinearVelocity().setY(source.getLinearVelocity().getY());
+        target.getEntityLinearVelocity().setZ(source.getLinearVelocity().getZ());
+        // entity linear acceleration (from dead reckoning parameters)
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setX(source.getLinearAcceleration().getX());
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setY(source.getLinearAcceleration().getY());
+        target.getDeadReckoningParameters().getEntityLinearAcceleration().setZ(source.getLinearAcceleration().getZ());
+    }
+
+    @Override
+    protected void processArticulatedParameters(EntityStatePdu entityStatePdu, double deltaTime) {
+        // Process articulation parameters
+        for (VariableParameter thisRateGeneric : entityStatePdu.getVariableParameters()) { // update articulation parameter values
+            if (thisRateGeneric instanceof ArticulatedParts) {
+                ArticulatedParts thisRate = (ArticulatedParts) thisRateGeneric;
+                if (thisRate.getParameterType() % 2 != 0) {
+                    continue;
+                }
+                // found a rate (even type)
+                // Search for the corresponding art. part value parameter
+                for (VariableParameter thisValGeneric : entityStatePdu.getVariableParameters()) {
+                    if (thisValGeneric instanceof ArticulatedParts) {
+                        ArticulatedParts thisVal = (ArticulatedParts) thisValGeneric;
+                        if (thisVal.getParameterType() != thisRate.getParameterType() - 1 ||
+                                thisVal.getPartAttachedTo() != thisRate.getPartAttachedTo()) {
+                            continue;
+                        }
+                        // found part's value
+                        thisVal.setParameterValue(
+                                Double.valueOf(getParameterValue(
+                                        deltaTime,
+                                        (int) thisVal.getParameterType() % 32,
+                                        thisVal.getParameterValue(),
+                                        thisVal.getParameterValue(),
+                                        thisRate.getParameterValue()
+                                )).floatValue()
+                        );
+                        break;  // exit the value search loop
+                    }  // end of found the corresponding value
+                }  // end value search
+            }  // end of found a rate
+        }  // end update articulation parameter values
+    }
+}

src/main/java/edu/nps/moves/deadreckoning/IDeadReckoner.java

@@ -0,0 +1,20 @@
+package edu.nps.moves.deadreckoning;
+
+/**
+ * IDeadReckoner
+ * <br>
+ * Provides the signature of Dead Reckoning algorithm
+ *
+ * @author Alessio Matricardi
+ */
+public interface IDeadReckoner<T> {
+
+    /**
+     * Perform the Dead Reckoning algorithm on {@code entityStatePdu}
+     *
+     * @param entityStatePdu the PDU
+     * @param deltaTime      the time increment for the dead reckoning step
+     */
+    void performDeadReckoning(T entityStatePdu, double deltaTime);
+
+}

src/main/java/edu/nps/moves/dis/EntityStatePdu.java

@@ -56,7 +56,7 @@ public class EntityStatePdu extends EntityInformationFamilyPdu implements Serial
      * a series of bit flags that are used to help draw the entity, such as
      * smoking, on fire, etc.
      */
-    protected int entityAppearance;
+    protected int entityAppearance = 0;
 
     /**
      * parameters used for dead reckoning
@@ -72,7 +72,7 @@ public class EntityStatePdu extends EntityInformationFamilyPdu implements Serial
     /**
      * a series of bit flags
      */
-    protected int capabilities;
+    protected int capabilities = 0;
 
     /**
      * variable length list of articulation parameters

src/main/java/edu/nps/moves/dis7/EntityStatePdu.java

@@ -57,7 +57,7 @@ public class EntityStatePdu extends EntityInformationFamilyPdu implements Serial
      * a series of bit flags that are used to help draw the entity, such as
      * smoking, on fire, etc.
      */
-    protected long entityAppearance;
+    protected long entityAppearance = 0;
 
     /**
      * parameters used for dead reckoning
@@ -73,7 +73,7 @@ public class EntityStatePdu extends EntityInformationFamilyPdu implements Serial
     /**
      * a series of bit flags
      */
-    protected long capabilities;
+    protected long capabilities = 0;
 
     /**
      * variable length list of variable parameters. In earlier DIS versions this