edu.nps.moves.dis7.DeadReckoningParameters Maven / Gradle / Ivy

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package edu.nps.moves.dis7;

import java.io.*;

/**
 * Not specified in the standard. This is used by the ESPDU
 *
 * Copyright (c) 2008-2016, MOVES Institute, Naval Postgraduate School. All
 * rights reserved. This work is licensed under the BSD open source license,
 * available at https://www.movesinstitute.org/licenses/bsd.html
 *
 * @author DMcG
 */
public class DeadReckoningParameters extends Object implements Serializable {

    /**
     * Algorithm to use in computing dead reckoning. See EBV doc.
     */
    protected short deadReckoningAlgorithm;

    /**
     * Dead reckoning parameters. Contents depends on algorithm.
     */
    protected short[] parameters = new short[15];

    /**
     * Linear acceleration of the entity
     */
    protected Vector3Float entityLinearAcceleration = new Vector3Float();

    /**
     * Angular velocity of the entity
     */
    protected Vector3Float entityAngularVelocity = new Vector3Float();

    /**
     * Constructor
     */
    public DeadReckoningParameters() {
    }

    public int getMarshalledSize() {
        int marshalSize = 0;

        marshalSize = marshalSize + 1;  // deadReckoningAlgorithm
        marshalSize = marshalSize + 15 * 1;  // parameters
        marshalSize = marshalSize + entityLinearAcceleration.getMarshalledSize();  // entityLinearAcceleration
        marshalSize = marshalSize + entityAngularVelocity.getMarshalledSize();  // entityAngularVelocity

        return marshalSize;
    }

    public void setDeadReckoningAlgorithm(short pDeadReckoningAlgorithm) {
        deadReckoningAlgorithm = pDeadReckoningAlgorithm;
    }

    public short getDeadReckoningAlgorithm() {
        return deadReckoningAlgorithm;
    }

    public void setParameters(short[] pParameters) {
        parameters = pParameters;
    }

    public short[] getParameters() {
        return parameters;
    }

    public void setEntityLinearAcceleration(Vector3Float pEntityLinearAcceleration) {
        entityLinearAcceleration = pEntityLinearAcceleration;
    }

    public Vector3Float getEntityLinearAcceleration() {
        return entityLinearAcceleration;
    }

    public void setEntityAngularVelocity(Vector3Float pEntityAngularVelocity) {
        entityAngularVelocity = pEntityAngularVelocity;
    }

    public Vector3Float getEntityAngularVelocity() {
        return entityAngularVelocity;
    }

    public void marshal(DataOutputStream dos) {
        try {
            dos.writeByte((byte) deadReckoningAlgorithm);

            for (int idx = 0; idx < parameters.length; idx++) {
                dos.writeByte(parameters[idx]);
            } // end of array marshaling

            entityLinearAcceleration.marshal(dos);
            entityAngularVelocity.marshal(dos);
        } // end try 
        catch (Exception e) {
            System.out.println(e);
        }
    } // end of marshal method

    public void unmarshal(DataInputStream dis) {
        try {
            deadReckoningAlgorithm = (short) dis.readUnsignedByte();
            for (int idx = 0; idx < parameters.length; idx++) {
                parameters[idx] = dis.readByte();
            } // end of array unmarshaling
            entityLinearAcceleration.unmarshal(dis);
            entityAngularVelocity.unmarshal(dis);
        } // end try 
        catch (Exception e) {
            System.out.println(e);
        }
    } // end of unmarshal method 

    /**
     * Packs a Pdu into the ByteBuffer.
     *
     * @throws java.nio.BufferOverflowException if buff is too small
     * @throws java.nio.ReadOnlyBufferException if buff is read only
     * @see java.nio.ByteBuffer
     * @param buff The ByteBuffer at the position to begin writing
     * @since ??
     */
    public void marshal(java.nio.ByteBuffer buff) {
        buff.put((byte) deadReckoningAlgorithm);

        for (int idx = 0; idx < parameters.length; idx++) {
            buff.put((byte) parameters[idx]);
        } // end of array marshaling

        entityLinearAcceleration.marshal(buff);
        entityAngularVelocity.marshal(buff);
    } // end of marshal method

    /**
     * Unpacks a Pdu from the underlying data.
     *
     * @throws java.nio.BufferUnderflowException if buff is too small
     * @see java.nio.ByteBuffer
     * @param buff The ByteBuffer at the position to begin reading
     * @since ??
     */
    public void unmarshal(java.nio.ByteBuffer buff) {
        deadReckoningAlgorithm = (short) (buff.get() & 0xFF);
        for (int idx = 0; idx < parameters.length; idx++) {
            parameters[idx] = buff.get();
        } // end of array unmarshaling
        entityLinearAcceleration.unmarshal(buff);
        entityAngularVelocity.unmarshal(buff);
    } // end of unmarshal method 


    /*
  * The equals method doesn't always work--mostly it works only on classes that consist only of primitives. Be careful.
     */
    @Override
    public boolean equals(Object obj) {

        if (this == obj) {
            return true;
        }

        if (obj == null) {
            return false;
        }

        if (getClass() != obj.getClass()) {
            return false;
        }

        return equalsImpl(obj);
    }

    /**
     * Compare all fields that contribute to the state, ignoring transient and
     * static fields, for this and the supplied object
     *
     * @param obj the object to compare to
     * @return true if the objects are equal, false otherwise.
     */
    public boolean equalsImpl(Object obj) {
        boolean ivarsEqual = true;

        if (!(obj instanceof DeadReckoningParameters)) {
            return false;
        }

        final DeadReckoningParameters rhs = (DeadReckoningParameters) obj;

        if (!(deadReckoningAlgorithm == rhs.deadReckoningAlgorithm)) {
            ivarsEqual = false;
        }

        for (int idx = 0; idx < 15; idx++) {
            if (!(parameters[idx] == rhs.parameters[idx])) {
                ivarsEqual = false;
            }
        }

        if (!(entityLinearAcceleration.equals(rhs.entityLinearAcceleration))) {
            ivarsEqual = false;
        }
        if (!(entityAngularVelocity.equals(rhs.entityAngularVelocity))) {
            ivarsEqual = false;
        }

        return ivarsEqual;
    }
} // end of class